Stefan Krickl / Mbed 2 deprecated JetflyerMotorController

Init

Dependencies:   Break Motor Communication Steering mbed Controller

main.cpp@1:2538cbbea1f8, 2017-07-13 (annotated)

Committer:
skrickl
Date:
Thu Jul 13 13:45:55 2017 +0000
Revision:
1:2538cbbea1f8
Parent:
0:226470cfa428 
bla

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skrickl 0:226470cfa428 1 #include "mbed.h"
skrickl 1:2538cbbea1f8 2 #include "SerialController.h"
skrickl 1:2538cbbea1f8 3 #include "MbedToPC.h"
skrickl 1:2538cbbea1f8 4 #include "MotorController.h"
skrickl 1:2538cbbea1f8 5 #include <string>
skrickl 0:226470cfa428 6
skrickl 1:2538cbbea1f8 7 DigitalOut led1(LED1);
skrickl 1:2538cbbea1f8 8 DigitalOut led2(LED2);
skrickl 1:2538cbbea1f8 9 //DigitalOut led3(LED3);
skrickl 1:2538cbbea1f8 10 //DigitalOut led4(LED4);
skrickl 1:2538cbbea1f8 11
skrickl 1:2538cbbea1f8 12 DigitalOut pin1(p21);
skrickl 1:2538cbbea1f8 13 DigitalOut pin2(p22);
skrickl 1:2538cbbea1f8 14
skrickl 1:2538cbbea1f8 15
skrickl 1:2538cbbea1f8 16 DigitalOut pin_forward(p29);
skrickl 1:2538cbbea1f8 17 DigitalOut pin_backward(p30);
skrickl 1:2538cbbea1f8 18 AnalogOut pin_analog_out_throttle(p18);
skrickl 1:2538cbbea1f8 19
skrickl 1:2538cbbea1f8 20 Serial pc(USBTX, USBRX, 115200);
skrickl 0:226470cfa428 21
skrickl 0:226470cfa428 22 int main()
skrickl 1:2538cbbea1f8 23 {
skrickl 1:2538cbbea1f8 24 pin1 = 0;
skrickl 1:2538cbbea1f8 25 pin2 = 0;
skrickl 1:2538cbbea1f8 26
skrickl 1:2538cbbea1f8 27 SerialController controller(p9, p10, p28, p27, 115200);
skrickl 1:2538cbbea1f8 28
skrickl 1:2538cbbea1f8 29 float speed = 0.0;
skrickl 1:2538cbbea1f8 30 int status = 0;
skrickl 1:2538cbbea1f8 31 int uno = 1;
skrickl 1:2538cbbea1f8 32 int zero = 0;
skrickl 1:2538cbbea1f8 33
skrickl 1:2538cbbea1f8 34 led1 = uno;
skrickl 1:2538cbbea1f8 35 wait(1);
skrickl 1:2538cbbea1f8 36 led1 = zero;
skrickl 1:2538cbbea1f8 37
skrickl 1:2538cbbea1f8 38 while (1)
skrickl 0:226470cfa428 39 {
skrickl 1:2538cbbea1f8 40 /*led1 = !led1;
skrickl 1:2538cbbea1f8 41 wait(0.5);*/
skrickl 1:2538cbbea1f8 42
skrickl 1:2538cbbea1f8 43 status = controller.getStatus();
skrickl 1:2538cbbea1f8 44
skrickl 1:2538cbbea1f8 45 led1 = status;
skrickl 1:2538cbbea1f8 46 led2 = status;
skrickl 1:2538cbbea1f8 47
skrickl 1:2538cbbea1f8 48 pc.printf("Status: %i \r\n",status);
skrickl 1:2538cbbea1f8 49
skrickl 1:2538cbbea1f8 50 /*if (status == MbedToPC::STATUS_START)
skrickl 1:2538cbbea1f8 51 {
skrickl 1:2538cbbea1f8 52 speed = controller.getVelTarget();
skrickl 1:2538cbbea1f8 53 led1 = 0;
skrickl 1:2538cbbea1f8 54 }
skrickl 1:2538cbbea1f8 55 else
skrickl 1:2538cbbea1f8 56 {
skrickl 1:2538cbbea1f8 57 speed = 0;
skrickl 1:2538cbbea1f8 58 led1 = 1;
skrickl 1:2538cbbea1f8 59 }
skrickl 1:2538cbbea1f8 60
skrickl 1:2538cbbea1f8 61 if (speed == 0)
skrickl 1:2538cbbea1f8 62 {
skrickl 1:2538cbbea1f8 63 pin_analog_out_throttle = 0;
skrickl 1:2538cbbea1f8 64 pin_forward = 0;
skrickl 1:2538cbbea1f8 65 pin_backward = 0;
skrickl 1:2538cbbea1f8 66 }
skrickl 1:2538cbbea1f8 67 else if (speed < 0)
skrickl 1:2538cbbea1f8 68 {
skrickl 1:2538cbbea1f8 69 pin_analog_out_throttle = 0;
skrickl 1:2538cbbea1f8 70 pin_forward = 0;
skrickl 1:2538cbbea1f8 71 pin_backward = 1;
skrickl 1:2538cbbea1f8 72 wait_ms(100);
skrickl 1:2538cbbea1f8 73 pin_analog_out_throttle = 0.6;
skrickl 1:2538cbbea1f8 74 }
skrickl 1:2538cbbea1f8 75 else if (speed > 0)
skrickl 1:2538cbbea1f8 76 {
skrickl 1:2538cbbea1f8 77 pin_analog_out_throttle = 0;
skrickl 1:2538cbbea1f8 78 pin_backward = 0;
skrickl 1:2538cbbea1f8 79 pin_forward = 1;
skrickl 1:2538cbbea1f8 80 wait_ms(100);
skrickl 1:2538cbbea1f8 81 pin_analog_out_throttle = 0.6;
skrickl 1:2538cbbea1f8 82 }*/
skrickl 0:226470cfa428 83 }
skrickl 1:2538cbbea1f8 84 }