Diff: main.cpp

Revision:

0:fab561035537

diff -r 000000000000 -r fab561035537 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Dec 23 12:19:49 2015 +0000
@@ -0,0 +1,59 @@
+#include "mbed.h"
+//#include <math.h>
+
+AnalogIn analog_value_0(A0);
+AnalogIn analog_value_1(A1);
+
+PwmOut left(PWM_OUT);
+PwmOut right(PB_5);
+
+DigitalIn mybutton(USER_BUTTON);
+DigitalOut myled(LED1);
+
+// Calculate the corresponding acquisition measure for a given value in mV
+#define MV(x) ((0xFFF*x)/3300)
+#define scale 0.20  //unit %
+#define speed_range 1000.0
+#define dirction_range 11.0
+
+int main()
+{
+    char state_motor=0;
+    //int count
+    left.period(0.01);
+    right.period(0.01);
+
+    while(1) {
+        uint16_t speed = analog_value_0.read_u16(); // Converts and read the analog input value
+        uint16_t dirction = analog_value_1.read_u16(); // Converts and read the analog input value
+
+        speed = ((speed*(speed_range+1))/65535);
+        dirction =((dirction*(dirction_range+1))/65535);
+
+        if(speed>speed_range)speed=speed_range;
+        if(dirction>dirction_range)dirction=dirction_range;
+        
+        int16_t dirction_0 = dirction-(dirction_range/2);
+
+        printf("Speed %d\n",speed);
+        printf("Dirction %d  \n",dirction_0);
+
+        if (mybutton == 0) { // Button is pressed
+            wait_ms(10);
+            state_motor = !state_motor;
+        }
+
+        if(state_motor ==0) {
+            left.write(0.0);
+            right.write(0.0);
+        } else {
+            if(dirction_0 >= 0) {
+                left.write((speed - (scale*speed*dirction_0))/speed_range);
+                right.write(speed/speed_range);
+            } else {
+                right.write((speed + (scale*speed*dirction_0))/speed_range);
+                left.write(speed/speed_range);
+            }
+        }
+    }
+}