Diff: main.cpp

Revision:

0:cc59ecac5a32

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 19 09:07:41 2018 +0000
@@ -0,0 +1,67 @@
+#include "mbed.h"
+#include "Joystick.h"
+
+Serial pc(USBTX, USBRX);
+Joystick joystick(PTB0,PTB1);
+Serial serial(PTE0, NC);
+DigitalIn master_switch(PTC9);
+DigitalOut led_man(LED1);
+DigitalOut led_auto(LED2);
+void transmit(void);
+void conversion(void);
+void modeSwitch(void);
+bool manual = true;
+int direction, aim;
+uint8_t tx = 0;
+Timeout debounce;
+Ticker tick;
+
+void transmit()
+{
+    serial.putc(tx);                      //tx transmit
+    return;
+}
+
+void conversion()
+{
+    tx = 0;
+    if(serial.writeable()) {
+        if(manual == true) {
+            tx  ^=  (0x2 << 4);          //adding ID key 0x2 (0b0010)
+            tx  = tx + direction;        //binding direction and aim
+            tx  = tx + aim;
+        } else if(manual == false) {     //ID key 0x56 (0b01010110)
+            tx = 0x56;
+        }
+        transmit();
+    }
+    return;
+}
+
+void modeSwitch()
+{
+    if(manual) {
+        manual = false;
+        led_auto = 1;
+        led_man = 0;
+    } else {
+        manual = true;
+        led_man = 1;
+        led_auto = 0;
+    }
+    return;
+}
+
+int main()
+{
+    led_man = 1;
+    led_auto = 0;
+    tick.attach(&conversion,0.01);          //call every 10ms
+    serial.baud(1200);                      //frequency
+    serial.format(8,SerialBase::None,1);    //communication(UART)
+    while(1) {
+        direction = joystick.DirectionDC(); //call for motors values
+        aim = joystick.Servo();
+        if(master_switch == 0) debounce.attach(&modeSwitch,0.2); //autonomous - manual switch         
+    }
+}
\ No newline at end of file