Diff: main.cpp

Revision:

0:f71a5a97e19e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue May 04 00:51:48 2021 +0000
@@ -0,0 +1,87 @@
+#include "mbed.h"
+#include "Motor.h"
+
+Motor mr(p23, p19, p20); // pwm, fwd, rev
+Motor ml(p24, p21, p22); // pwm, fwd, rev 
+
+float r;
+float l;
+
+
+using namespace mbed;
+
+Serial blue(p9, p10);
+
+
+int main() {
+    r = 0;
+    l = 0;
+    
+    char bnum=0;
+    char bhit=0;
+    while(1) {
+        if (blue.getc()=='!') {
+            if (blue.getc()=='B') { //button data packet
+                bnum = blue.getc(); //button number
+                bhit = blue.getc(); //1=hit, 0=release
+                if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+                    switch (bnum) {
+                        case '5': //button 5 up arrow
+                            if (bhit=='1') {
+                                //add hit code here
+                                printf("fwd");
+                                l = 1.0;
+                                r = 1.0;
+                            } else {
+                                //add release code here
+                                l = 0.0;
+                                r = 0.0;
+                            }
+                            break;
+                        case '6': //button 6 down arrow
+                            if (bhit=='1') {
+                                //add hit code here
+                                printf("bwd");
+                                l = -1.0;
+                                r = -1.0;
+                            } else {
+                                //add release code here
+                                l = 0.0;
+                                r = 0.0;
+                            }
+                            break;
+                        case '7': //button 7 left arrow
+                            if (bhit=='1') {
+                                //add hit code here
+                                printf("left");
+                                l = 1.0;
+                                r = -1.0;
+                            } else {
+                                //add release code here
+                                l = 0.0;
+                                r = 0.0;
+                            }
+                            break;
+                        case '8': //button 8 right arrow
+                            if (bhit=='1') {
+                                //add hit code here
+                                printf("right");
+                                l = -1.0;
+                                r = 1.0;
+                            } else {
+                                //add release code here
+                                l = 0.0;
+                                r = 0.0;
+                            }
+                            break;
+                        default:
+                            break;
+                    }
+                }
+            }
+        }
+        mr.speed(l);
+        ml.speed(r);
+        printf("Left:%f Right:%f\n", l, r);
+    }
+}