Robert Harrell
Code for Embedded Systems I/O class project
Revision 0:bcc2a42d221f, committed 2014-06-11
- Comitter:
- robertwharrell
- Date:
- Wed Jun 11 01:54:21 2014 +0000
- Commit message:
- Initial version
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Wed Jun 11 01:54:21 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Jun 11 01:54:21 2014 +0000
@@ -0,0 +1,80 @@
+#include "mbed.h"
+#include "Motor.h"
+
+//#define DEBUG 1
+
+#define SENSOR_L p30
+#define SENSOR_R p29
+#define MOTOR_L_PWM p26
+#define MOTOR_L_FWD p25
+#define MOTOR_L_REV p24
+#define MOTOR_R_PWM p21
+#define MOTOR_R_FWD p23
+#define MOTOR_R_REV p22
+#define BASE_SPEED 0.4
+
+DigitalOut myled(LED1);
+DigitalIn leftSensor (SENSOR_L);
+DigitalIn rightSensor(SENSOR_R);
+Motor leftMotor (MOTOR_L_PWM, MOTOR_L_FWD, MOTOR_L_REV);
+Motor rightMotor(MOTOR_R_PWM, MOTOR_R_FWD, MOTOR_R_REV);
+
+void backup(void);
+void rotate_left(void);
+void rotate_right(void);
+void turn_around(void);
+
+int main() {
+ //Set motors to forward
+ leftMotor.speed(BASE_SPEED);
+ rightMotor.speed(BASE_SPEED);
+
+ while(1) {
+ #ifdef DEBUG
+ printf("Sensor Check:\r\n");
+ printf("Left %d\r\n", left_test.read());
+ printf("Right %d\r\n", right_test.read());
+ #endif
+
+
+ if(leftSensor & rightSensor){
+ backup();
+ turn_around();
+ }else if(leftSensor){
+ backup();
+ rotate_right();
+ }else if(rightSensor){
+ backup();
+ rotate_left();
+ }
+
+ leftMotor.speed(BASE_SPEED);
+ rightMotor.speed(BASE_SPEED);
+ myled = 1;
+ wait(0.2);
+ myled = 0;
+ wait(.1);
+ }
+}
+
+
+void backup(void){
+ leftMotor.speed (-1*BASE_SPEED);
+ rightMotor.speed(-1*BASE_SPEED);
+ wait(.5);
+}
+void rotate_left(void){
+ leftMotor.speed (-1*BASE_SPEED);
+ rightMotor.speed(BASE_SPEED);
+ wait(1);
+}
+void rotate_right(void){
+ leftMotor.speed(BASE_SPEED);
+ rightMotor.speed(-1*BASE_SPEED);
+ wait(1);
+}
+void turn_around(void){
+ leftMotor.speed(BASE_SPEED);
+ rightMotor.speed(-1*BASE_SPEED);
+ wait(2);
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Jun 11 01:54:21 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/0b3ab51c8877 \ No newline at end of file