Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

Diff: main.cpp

Revision:
1:c28fac16a109
Parent:
0:3a3dd78038a6
Child:
2:7c6b494f9005
diff -r 3a3dd78038a6 -r c28fac16a109 main.cpp
--- a/main.cpp	Fri Nov 15 17:33:59 2013 +0000
+++ b/main.cpp	Sun Nov 17 03:05:35 2013 +0000
@@ -1,12 +1,43 @@
 #include "mbed.h"
+#include "dbgprint.h"
+#include "robot.h"
 
-DigitalOut myled(LED1);
+BusOut leds(LED_RED,LED_GREEN,LED_BLUE);
+Serial pc(USBTX, USBRX);
 
+robot bot;
 int main() {
+    DBGPRINT("AA\n\r",1);
+    char tmpchar = 0;
+    leds = 0x2;
+    const int* constbuf;
     while(1) {
-        myled = 1;
-        wait(0.2);
-        myled = 0;
-        wait(0.2);
+        DBGPRINT("BB\n\r",1);
+        leds = leds^0x7;
+        tmpchar = pc.getc();
+        
+        switch(tmpchar){
+            case 'q':
+                constbuf = bot.bigenc.getVals();
+                DBGPRINT("\n\r%d\t%d\t%d\t%d\n\r",constbuf[0],constbuf[1],constbuf[2],constbuf[3]);
+                break;
+            case 'w':
+                bot.left.setPower(0.2);
+                bot.right.setPower(0.2);
+                break;
+            case 'a':
+                bot.left.setPower(-0.2);
+                bot.right.setPower(0.2);
+                break;
+            case 'd':
+                bot.left.setPower(0.2);
+                bot.right.setPower(-0.2);
+                break;
+            default:
+                bot.left.brake();
+                bot.right.brake();
+                break;
+                
+        }
     }
 }