Robert Zalog / Mbed 2 deprecated hermes_copy

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed QEI beep

run_modes.cpp@0:7a97ebb833eb, 2019-05-05 (annotated)

Committer:
rzalog
Date:
Sun May 05 00:02:11 2019 +0000
Revision:
0:7a97ebb833eb
test commit;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rzalog 0:7a97ebb833eb 1 #include "globals.h"
rzalog 0:7a97ebb833eb 2 #include "pins.h"
rzalog 0:7a97ebb833eb 3 #include "beep.h"
rzalog 0:7a97ebb833eb 4
rzalog 0:7a97ebb833eb 5 /***
rzalog 0:7a97ebb833eb 6 * Driving stuff
rzalog 0:7a97ebb833eb 7 ***/
rzalog 0:7a97ebb833eb 8 void test_drive_straight() {
rzalog 0:7a97ebb833eb 9 systick.start();
rzalog 0:7a97ebb833eb 10 //motors.setRightPwm(0.1f);
rzalog 0:7a97ebb833eb 11 //motors.setLeftPwm(0.1f);
rzalog 0:7a97ebb833eb 12 while(1) {
rzalog 0:7a97ebb833eb 13 mainController.moveCells(100);
rzalog 0:7a97ebb833eb 14 }
rzalog 0:7a97ebb833eb 15 }
rzalog 0:7a97ebb833eb 16
rzalog 0:7a97ebb833eb 17 /***
rzalog 0:7a97ebb833eb 18 * Assignment 2
rzalog 0:7a97ebb833eb 19 ***/
rzalog 0:7a97ebb833eb 20
rzalog 0:7a97ebb833eb 21 void basic_motor_movement() {
rzalog 0:7a97ebb833eb 22 motors.setRightPwm(0.15f);
rzalog 0:7a97ebb833eb 23 motors.setLeftPwm(0.15f);
rzalog 0:7a97ebb833eb 24
rzalog 0:7a97ebb833eb 25 wait(3);
rzalog 0:7a97ebb833eb 26
rzalog 0:7a97ebb833eb 27 motors.stop();
rzalog 0:7a97ebb833eb 28
rzalog 0:7a97ebb833eb 29 wait(1);
rzalog 0:7a97ebb833eb 30
rzalog 0:7a97ebb833eb 31 motors.stop();
rzalog 0:7a97ebb833eb 32 pc.printf("right: %d, left: %d\n", encoders.right(), encoders.left());
rzalog 0:7a97ebb833eb 33
rzalog 0:7a97ebb833eb 34
rzalog 0:7a97ebb833eb 35 motors.setRightPwm(-0.2f);
rzalog 0:7a97ebb833eb 36 motors.setLeftPwm(-0.2f);
rzalog 0:7a97ebb833eb 37
rzalog 0:7a97ebb833eb 38 wait(3);
rzalog 0:7a97ebb833eb 39 motors.stop();
rzalog 0:7a97ebb833eb 40
rzalog 0:7a97ebb833eb 41 // TODO: Turn
rzalog 0:7a97ebb833eb 42 }
rzalog 0:7a97ebb833eb 43
rzalog 0:7a97ebb833eb 44 void read_encoders() {
rzalog 0:7a97ebb833eb 45 while (true) {
rzalog 0:7a97ebb833eb 46 encoders.printValues();
rzalog 0:7a97ebb833eb 47 wait(0.5);
rzalog 0:7a97ebb833eb 48 }
rzalog 0:7a97ebb833eb 49 }
rzalog 0:7a97ebb833eb 50
rzalog 0:7a97ebb833eb 51 void test_systick() {
rzalog 0:7a97ebb833eb 52 systick.start();
rzalog 0:7a97ebb833eb 53
rzalog 0:7a97ebb833eb 54 while (true) {
rzalog 0:7a97ebb833eb 55 wait(1);
rzalog 0:7a97ebb833eb 56 pc.printf("Current time (ms): %d\n", millis);
rzalog 0:7a97ebb833eb 57 }
rzalog 0:7a97ebb833eb 58 }
rzalog 0:7a97ebb833eb 59
rzalog 0:7a97ebb833eb 60 void test_buzzer() {
rzalog 0:7a97ebb833eb 61 Beep buzzer(PB_14);
rzalog 0:7a97ebb833eb 62
rzalog 0:7a97ebb833eb 63 for (int i=0; i < 5; i++) {
rzalog 0:7a97ebb833eb 64 buzzer.beep(1000, 1);
rzalog 0:7a97ebb833eb 65 wait(2);
rzalog 0:7a97ebb833eb 66 }
rzalog 0:7a97ebb833eb 67 }
rzalog 0:7a97ebb833eb 68
rzalog 0:7a97ebb833eb 69 inline float flash(DigitalOut emit, AnalogIn recv) {
rzalog 0:7a97ebb833eb 70 float val;
rzalog 0:7a97ebb833eb 71 emit = 1;
rzalog 0:7a97ebb833eb 72 wait_us(60);
rzalog 0:7a97ebb833eb 73 val = recv.read();
rzalog 0:7a97ebb833eb 74 emit = 0;
rzalog 0:7a97ebb833eb 75 wait_us(60);
rzalog 0:7a97ebb833eb 76
rzalog 0:7a97ebb833eb 77 return val;
rzalog 0:7a97ebb833eb 78 }
rzalog 0:7a97ebb833eb 79
rzalog 0:7a97ebb833eb 80 void test_ir() {
rzalog 0:7a97ebb833eb 81
rzalog 0:7a97ebb833eb 82 pc.printf("Testing IRs.\n");
rzalog 0:7a97ebb833eb 83
rzalog 0:7a97ebb833eb 84 systick.start();
rzalog 0:7a97ebb833eb 85
rzalog 0:7a97ebb833eb 86 while(1) {
rzalog 0:7a97ebb833eb 87 //ir.update();
rzalog 0:7a97ebb833eb 88 pc.printf("millis: %d\t", millis);
rzalog 0:7a97ebb833eb 89 ir.printValues();
rzalog 0:7a97ebb833eb 90
rzalog 0:7a97ebb833eb 91 wait(0.3);
rzalog 0:7a97ebb833eb 92 }
rzalog 0:7a97ebb833eb 93 }