Diff: main.cpp

Revision:

0:ced7b365b52d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Mar 28 12:20:24 2013 +0000
@@ -0,0 +1,76 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "RIT.h"
+
+AnalogIn L_IR1(p15);      // Analog In Pin
+AnalogIn L_IR2(p16);      // Analog In Pin
+AnalogIn L_IR3(p17);      // Analog In Pin
+AnalogIn R_IR3(p18);      // Analog In Pin
+AnalogIn R_IR2(p19);      // Analog In Pin
+AnalogIn R_IR1(p20);      // Analog In Pin
+
+DigitalOut LLED(p7);   // Digital Out Pin
+DigitalOut RLED(p8);
+
+DigitalOut L_IRLED1(p9);    // Digital Out Pin
+DigitalOut L_IRLED2(p10);   // Digital Out Pin
+DigitalOut L_IRLED3(p11);   // Digital Out Pin
+DigitalOut R_IRLED3(p12);   // Digital Out Pin
+DigitalOut R_IRLED2(p13);   // Digital Out Pin
+DigitalOut R_IRLED1(p14);   // Digital Out Pin
+
+Serial serial(USBTX,USBRX); // Tx, Rx Pin
+
+volatile uint32_t rithits = 0;       //timer1 stops when timer1hits==imer1loop
+
+Timer rit_timing;
+
+void RIT_IRQHandler(void) 
+{
+    //Flash Led.
+    L_IRLED1=!L_IRLED1;
+    L_IRLED2=!L_IRLED2;
+    L_IRLED3=!L_IRLED3;
+    R_IRLED3=!R_IRLED3;
+    R_IRLED2=!R_IRLED2;
+    R_IRLED1=!R_IRLED1;
+            
+    //Count Hits.
+    rithits++;
+}
+
+RIT rit(1); //10ms
+
+int main() 
+{
+    LLED=1; 
+    RLED=1; // LED Init    
+    int data[6];
+    serial.baud(115200);
+    rit.setup_us(10);
+
+    rit.append(RIT_IRQHandler);
+
+    rit_timing.start();
+    rit.enable();
+               
+    while(1) 
+    {
+        data[0] = L_IR1 * 100;                   // ain (0.0 ~ 1.0)
+        data[1] = L_IR2 * 100;                   // ain (0.0 ~ 1.0)
+        data[2] = L_IR3 * 100;                   // ain (0.0 ~ 1.0)
+        data[3] = R_IR3 * 100;                   // ain (0.0 ~ 1.0)
+        data[4] = R_IR2 * 100;                   // ain (0.0 ~ 1.0)
+        data[5] = R_IR1 * 100;                   // ain (0.0 ~ 1.0)
+         
+        serial.printf("| %03d | %03d | %03d | %03d | %03d | %03d |\n", data[0], data[1], data[2], data[3], data[4], data[5]);   // mbed -> PC, data(0~100)
+    }
+    
+    rit.unappend();
+    rit.append(RIT_IRQHandler);
+    rit.disable();
+    rit_timing.stop();
+
+    rit_timing.start();
+    rit.enable();
+}