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Dependencies:   mbed

main.cpp@5:1afe17a20a5b, 2015-08-13 (annotated)

Committer:
overkiller
Date:
Thu Aug 13 15:52:19 2015 +0000
Revision:
5:1afe17a20a5b
Parent:
4:cc391b3f3e57
Child:
6:9eb153e1d472
sensor code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
overkiller 0:5cf38d7bbdd5 1 #include "mbed.h"
overkiller 1:90d75436758b 2 #include "include/EngineDriver.h"
overkiller 3:def8a92db030 3 #include "include/SerialPrompt.h"
overkiller 5:1afe17a20a5b 4 #include "include/SR04.h"
overkiller 4:cc391b3f3e57 5 Serial pc(USBTX, USBRX);
overkiller 4:cc391b3f3e57 6
overkiller 2:09cc6b203fe4 7 int initDrivingUnit(int testLoops)
overkiller 2:09cc6b203fe4 8 {
overkiller 2:09cc6b203fe4 9 pc.printf("Testing engines...\n\r");
overkiller 2:09cc6b203fe4 10 enableAll();
overkiller 2:09cc6b203fe4 11 int i = 0;
overkiller 2:09cc6b203fe4 12 while(i < testLoops)
overkiller 2:09cc6b203fe4 13 {
overkiller 2:09cc6b203fe4 14 testEngines();
overkiller 2:09cc6b203fe4 15 applyStates();
overkiller 2:09cc6b203fe4 16 i++;
overkiller 2:09cc6b203fe4 17 }
overkiller 2:09cc6b203fe4 18 resetEngines();
overkiller 2:09cc6b203fe4 19 return 0;
overkiller 2:09cc6b203fe4 20 }
overkiller 1:90d75436758b 21 int main()
overkiller 1:90d75436758b 22 {
overkiller 5:1afe17a20a5b 23 if(initDrivingUnit(1) == 0)
overkiller 5:1afe17a20a5b 24 {
overkiller 5:1afe17a20a5b 25 pc.printf("Ready to accept commands.\n\r Netrunner will start moving in 1 second");
overkiller 5:1afe17a20a5b 26 displayPrompt(&pc);
overkiller 5:1afe17a20a5b 27 }
overkiller 5:1afe17a20a5b 28 inState[0] = 0;
overkiller 5:1afe17a20a5b 29 inState[1] = 1;
overkiller 5:1afe17a20a5b 30 inState[2] = 1;
overkiller 5:1afe17a20a5b 31 inState[3] = 0;
overkiller 5:1afe17a20a5b 32 wait(1);
overkiller 1:90d75436758b 33 while (true)
overkiller 1:90d75436758b 34 {
overkiller 4:cc391b3f3e57 35 int action = getMenuInput(&pc);
overkiller 5:1afe17a20a5b 36 float dist = getDistance(0);
overkiller 5:1afe17a20a5b 37 displayMessage(distMsg, &pc, dist);
overkiller 5:1afe17a20a5b 38 if(dist <= 10)
overkiller 5:1afe17a20a5b 39 {
overkiller 5:1afe17a20a5b 40 resetEngines();
overkiller 5:1afe17a20a5b 41 }else
overkiller 5:1afe17a20a5b 42 {
overkiller 5:1afe17a20a5b 43 forward();
overkiller 5:1afe17a20a5b 44 }
overkiller 5:1afe17a20a5b 45 applyStates();
overkiller 0:5cf38d7bbdd5 46 }
overkiller 0:5cf38d7bbdd5 47 }