Diff: main.cpp

Revision:

0:efc7a2c2f18e

Child:

1:1fa7efbfc2d3

diff -r 000000000000 -r efc7a2c2f18e main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 29 09:19:21 2013 +0000
@@ -0,0 +1,109 @@
+#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
+
+Motor L_Motor(p25, p22, p21, 1); // pwm, fwd, rev, can break
+Motor R_Motor(p26, p24, p23, 1); // pwm, fwd, rev, can break
+
+
+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;
+    int data[6];
+    bool sensor[6]={0,0,0,0,0,0};
+
+    
+    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)
+
+        for(int i=0; i < 6; i++)
+        {
+            sensor[i] = data[i] > 90 ? 0 : 1;
+        }
+   
+
+        if(sensor[0] == 1 || sensor[1] == 1 || sensor[2] == 1)
+        {   //Left
+            L_Motor.speed(0.3);
+            R_Motor.speed(0.7);
+            LLED = 1; RLED = 0;   
+        }
+        else if(sensor[4] == 1 || sensor[5] == 1 || sensor[6] == 1)
+        {
+            //Right
+            L_Motor.speed(0.7);
+            R_Motor.speed(0.3);
+            LLED = 0; RLED = 1;
+        }
+        else
+        {
+            L_Motor.speed(0.3);
+            R_Motor.speed(0.3);
+            LLED = 0; RLED = 0;        
+        }
+    }
+    
+    rit.unappend();rit.append(RIT_IRQHandler);
+    rit.disable();
+    rit_timing.stop();
+
+    rit_timing.start();
+    rit.enable();
+}