Diff: main.cpp

Revision:

1:2538cbbea1f8

Parent:

0:226470cfa428

--- a/main.cpp	Mon Jun 12 20:04:26 2017 +0000
+++ b/main.cpp	Thu Jul 13 13:45:55 2017 +0000
@@ -1,11 +1,84 @@
 #include "mbed.h"
+#include "SerialController.h"
+#include "MbedToPC.h"
+#include "MotorController.h"
+#include <string>
 
-DigitalOut myled(LED1);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+//DigitalOut led3(LED3);
+//DigitalOut led4(LED4);
+
+DigitalOut pin1(p21);
+DigitalOut pin2(p22);
+
+
+DigitalOut pin_forward(p29);
+DigitalOut pin_backward(p30);
+AnalogOut pin_analog_out_throttle(p18);
+
+Serial pc(USBTX, USBRX, 115200);
 
 int main() 
-{
-    while(1) 
+{   
+    pin1 = 0;
+    pin2 = 0;
+    
+    SerialController controller(p9, p10, p28, p27, 115200);
+    
+    float speed = 0.0;
+    int status = 0;
+    int uno = 1;
+    int zero = 0;
+    
+    led1 = uno;
+    wait(1);
+    led1 = zero;
+    
+    while (1)
     {
-
+        /*led1 = !led1;
+        wait(0.5);*/
+        
+        status = controller.getStatus();
+        
+        led1 = status;
+        led2 = status;
+        
+        pc.printf("Status: %i \r\n",status);
+        
+        /*if (status == MbedToPC::STATUS_START)
+        {
+            speed = controller.getVelTarget();
+            led1 = 0;
+        }
+        else 
+        {
+            speed = 0;
+            led1 = 1;
+        }
+        
+        if (speed == 0)
+        {
+            pin_analog_out_throttle = 0;
+            pin_forward = 0;
+            pin_backward = 0;
+        }
+        else if (speed < 0)
+        {
+            pin_analog_out_throttle = 0;
+            pin_forward = 0;
+            pin_backward = 1;
+            wait_ms(100);
+            pin_analog_out_throttle = 0.6;
+        }
+        else if (speed > 0)
+        {   
+            pin_analog_out_throttle = 0;
+            pin_backward = 0;
+            pin_forward = 1;
+            wait_ms(100);
+            pin_analog_out_throttle = 0.6;
+        }*/
     }
-}
+}
\ No newline at end of file