Diff: main.cpp

Revision:

1:e1f799db0b10

Parent:

0:4f64dd8a2ca3

Child:

2:ed57ee381f8f

--- a/main.cpp	Sun May 14 15:39:24 2017 +0000
+++ b/main.cpp	Thu Dec 05 02:50:35 2019 +0000
@@ -1,21 +1,20 @@
 #include "mbed.h"
-//Pi Console Cable function
-// connect gnd on Pi header to mbed
-// connect mbed p9 to Pi RX pin
-// connect mbed p10 to Pi TX pin
-// Enable serial console on Pi (needed one time only)
-// Run terminal application on PC at 115200 baud
-// See https://developer.mbed.org/users/4180_1/notebook/using-mbed-for-a-pi-console-cable/#
+#include "Motor.h"
+
+Motor left(p21, p23, p24); // Left motor when looking from the front (pwm, fwd, rev)
+Motor right(p22, p25, p26); // Right motor when looking from the front (pwm, fwd, rev)
 RawSerial  pc(USBTX, USBRX);
-RawSerial  dev(p9, p10);
+RawSerial  dev(p13, p14);
 DigitalOut led1(LED1);
 DigitalOut led4(LED4);
+volatile char state = 's';
  
 void dev_recv()
 {
     led1 = !led1;
     while(dev.readable()) {
-        pc.putc(dev.getc());
+        char new_char = dev.getc();
+        state = new_char;
     }
 }
  
@@ -30,12 +29,35 @@
 int main()
 {
     pc.baud(115200);
-    dev.baud(115200);
+    dev.baud(38400);
  
-    pc.attach(&pc_recv, Serial::RxIrq);
+    //pc.attach(&pc_recv, Serial::RxIrq);
     dev.attach(&dev_recv, Serial::RxIrq);
  
     while(1) {
-        sleep();
+        //pc.putc(state);
+        switch(state){
+            case 'f':
+                left.speed(.5);
+                right.speed(-0.5);
+                break;
+            case 'b':
+                left.speed(-0.5);
+                right.speed(0.5);
+                break;
+            case 'r':
+                left.speed(-0.5);
+                right.speed(-0.5);
+                break;
+            case 'l':
+                left.speed(0.5);
+                right.speed(0.5);
+                break;
+            default:
+                left.speed(0.0);
+                right.speed(0.0);
+
+        }
+        wait(0.5);
     }
 }
\ No newline at end of file