main.cpp

00001 #include "mbed.h"
00002 #include "SerialController.h"
00003 #include "MbedToPC.h"
00004 #include "MotorController.h"
00005 #include <string>
00006 
00007 DigitalOut led1(LED1);
00008 DigitalOut led2(LED2);
00009 //DigitalOut led3(LED3);
00010 //DigitalOut led4(LED4);
00011 
00012 DigitalOut pin1(p21);
00013 DigitalOut pin2(p22);
00014 
00015 
00016 DigitalOut pin_forward(p29);
00017 DigitalOut pin_backward(p30);
00018 AnalogOut pin_analog_out_throttle(p18);
00019 
00020 Serial pc(USBTX, USBRX, 115200);
00021 
00022 int main() 
00023 {   
00024     pin1 = 0;
00025     pin2 = 0;
00026     
00027     SerialController controller(p9, p10, p28, p27, 115200);
00028     
00029     float speed = 0.0;
00030     int status = 0;
00031     int uno = 1;
00032     int zero = 0;
00033     
00034     led1 = uno;
00035     wait(1);
00036     led1 = zero;
00037     
00038     while (1)
00039     {
00040         /*led1 = !led1;
00041         wait(0.5);*/
00042         
00043         status = controller.getStatus();
00044         
00045         led1 = status;
00046         led2 = status;
00047         
00048         pc.printf("Status: %i \r\n",status);
00049         
00050         /*if (status == MbedToPC::STATUS_START)
00051         {
00052             speed = controller.getVelTarget();
00053             led1 = 0;
00054         }
00055         else 
00056         {
00057             speed = 0;
00058             led1 = 1;
00059         }
00060         
00061         if (speed == 0)
00062         {
00063             pin_analog_out_throttle = 0;
00064             pin_forward = 0;
00065             pin_backward = 0;
00066         }
00067         else if (speed < 0)
00068         {
00069             pin_analog_out_throttle = 0;
00070             pin_forward = 0;
00071             pin_backward = 1;
00072             wait_ms(100);
00073             pin_analog_out_throttle = 0.6;
00074         }
00075         else if (speed > 0)
00076         {   
00077             pin_analog_out_throttle = 0;
00078             pin_backward = 0;
00079             pin_forward = 1;
00080             wait_ms(100);
00081             pin_analog_out_throttle = 0.6;
00082         }*/
00083     }
00084 }