Diff: main.cpp

Revision:

0:b76f98d1556b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 14 04:39:29 2011 +0000
@@ -0,0 +1,200 @@
+#include "mbed.h"
+
+#define FORWARD 0
+#define REVERSE 1
+
+#define ON_OFF                    '0'
+#define FRONT                     '1'
+#define BACK                      '2'
+#define LEFT                      '3'
+#define RIGHT                     '4'
+#define HALF_FRONT_RIGHT          '5'
+#define HALF_FRONT_LEFT           '6'
+#define HALF_BACK_RIGHT           '7'
+#define HALF_BACK_LEFT            '8'
+
+/********************H-Bridge pins*****************/
+DigitalOut Ain1(p6);
+DigitalOut Ain2(p5);
+DigitalOut Bin1(p7);
+DigitalOut Bin2(p8);
+PwmOut motorA(p22);
+PwmOut motorB(p23);
+
+/********************X-Bee Configuration*****************/
+Serial xbee(p9,p10);
+DigitalOut rst(p11);
+
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+/*******************Motor directions***************/
+void forward();
+void reverse();
+void left(float);
+void right(float);
+void stop();
+
+
+void Move(char DirectionToMove, int& prevState);
+
+float time_rotate = 0.5;
+
+int main()
+{
+    rst = 0;
+    wait(0.5);
+    rst = 1;
+    wait(0.5);
+
+    int prevState = 1;  // 1 for forward and 0 for back    
+    int onOff = 1;      // 1 for ON 0 for OFF
+    char DirectionToMove = '1';
+    
+    /* init of prevhbridgestatus comes here*/
+        
+    while(1)
+    {
+          while(!(xbee.readable()))
+          {
+            led1 = 1;
+          }
+          led1 = 0;
+          
+          led2 = prevState;
+          
+          DirectionToMove = xbee.getc();
+          
+          if(DirectionToMove == '0')
+          {
+            if(onOff == 1)
+            {
+                onOff = 0;
+                stop();
+            }
+            else
+                onOff = 1;
+          }
+          else if(onOff == 1)
+          {
+            Move(DirectionToMove, prevState); /* This function moves along a direction determined by current direction and the previous direction of motion */
+          }
+    }                                                         
+
+}
+
+void Move(char DirectionToMove, int& prevState)
+{
+    switch(DirectionToMove)
+    {
+        case FRONT:
+            forward();
+            prevState = 1;
+            break;       
+                 
+        case BACK:
+            reverse();
+            prevState = 0;
+            break;         
+               
+        case LEFT:
+            left(2 * time_rotate);            
+            if(prevState == 0)
+                reverse();
+            else
+                forward();
+            break;
+            
+        case RIGHT:
+            right(2 * time_rotate);
+            if(prevState == 0)
+                reverse();
+            else
+                forward();
+            break;
+            
+        case HALF_FRONT_RIGHT:
+            right(time_rotate);
+            prevState = 1;
+            forward();
+            break;
+            
+        case HALF_FRONT_LEFT:
+            left(time_rotate);
+            prevState = 1;
+            forward();
+            break;
+            
+        case HALF_BACK_RIGHT:
+            right(time_rotate);
+            prevState = 0;
+            reverse();
+            break;
+            
+        case HALF_BACK_LEFT:
+            left(time_rotate);
+            prevState = 0;
+            reverse();
+            break;
+            
+        default:
+            break;
+    }
+} 
+           
+void reverse()
+{
+    stop();
+    Ain1 = 1;
+    Ain2 = 0;
+    Bin1 = 1;
+    Bin2 = 0; 
+    motorA = 0.5;       
+    motorB=0.5; 
+                            
+}
+
+void forward()
+{
+    stop();
+    Ain1 = 0;
+    Ain2 = 1;
+    Bin1 = 0;
+    Bin2 = 1; 
+    motorA = 0.5;       
+    motorB=0.5;
+   
+}
+void left(float time1)
+{
+    stop();
+    Ain1 = 1;
+    Ain2 = 0;  
+    Bin1 = 0;
+    Bin2 = 1;  
+    motorA = 0.5;       
+    motorB=0.5;
+    wait(time1);             
+}
+void right(float time1)
+{
+    stop();
+    Ain1 = 0;
+    Ain2 = 1;  
+    Bin1 = 1;
+    Bin2 = 0;  
+    motorA = 0.5;       
+    motorB=0.5;
+    wait(time1);          
+}
+
+void stop()
+{
+       Ain1 = 0;
+       Ain2 = 0; 
+       Bin1 = 0;
+       Bin2 = 0; 
+       motorA = 1;  
+       motorB=1;
+
+}
\ No newline at end of file