ryan lin
/
wheeldriveassistance
wheelchair code for driver assitance
Fork of wheelchairalexa by
main.cpp
- Committer:
- ryanlin97
- Date:
- 2018-08-16
- Revision:
- 11:75f0f13ff6c1
- Parent:
- 10:e5463c11e0a0
- Child:
- 12:0e5a0571b497
File content as of revision 11:75f0f13ff6c1:
#include "wheelchair.h" AnalogIn x(A0); AnalogIn y(A1); DigitalOut off(D0); DigitalOut on(D1); DigitalOut up(D2); DigitalOut down(D3); bool manual = false; Serial pc(USBTX, USBRX, 57600); Timer t; Wheelchair smart(xDir,yDir, &pc, &t); int main(void) { pc.printf("hello\n"); while(1) { if( pc.readable()) { char c = pc.getc(); pc.printf("hello\n"); 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 == '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 { pc.printf("none \n"); smart.stop(); } } else { smart.stop(); } wait(process); } }