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wheelchair code for alexa integration
Fork of wheelchaircontrol by
main.cpp
- Committer:
- ryanlin97
- Date:
- 2018-08-17
- Revision:
- 12:3cf6376007c6
- Parent:
- 11:75f0f13ff6c1
File content as of revision 12:3cf6376007c6:
#include "wheelchair.h" AnalogIn x(A0); AnalogIn y(A1); DigitalOut on(D12); DigitalOut off(D11); DigitalOut up(D2); DigitalOut down(D3); bool manual = false; Serial pc(USBTX, USBRX, 9600); Timer t; Wheelchair smart(xDir,yDir, &pc, &t); char c = 'z'; int main(void) { while(1) { if( pc.readable()) { c = pc.getc(); } else { if( c == 'w') { pc.printf("up \n"); smart.forward(); } else if( c == 'a') { pc.printf("left \n"); smart.left(); } else if( c == 'd') { pc.printf("right \n"); smart.right(); } else if( c == 's') { pc.printf("down \n"); smart.backward(); } else if( c == 'r') { smart.turn_right(90); } else if( c == 'l') { smart.turn_left(90); } else if(c == 'o') { pc.printf("turning on\n"); on = 1; wait(1); on = 0; c = 'z'; } else if(c == 'f') { pc.printf("turning off\n"); off = 1; wait(1); off = 0; c = 'z'; } else if( c == 't') { char buffer[256]; pc.printf ("Enter a long number: "); fgets (buffer, 256, stdin); int angle = atoi (buffer); if(angle == 0) { pc.printf("invalid input try again\n"); } else { smart.turn(angle); } } else if( c == 'm') { pc.printf("turning on joystick\n"); manual = true; t.reset(); while(manual) { smart.move(x,y); if( pc.readable()) { char d = pc.getc(); if( d == 'm') { pc.printf("turning off joystick\n"); manual = false; } } } } else { smart.stop(); pc.printf("hello\n"); } } } wait(process); }