main.cpp

00001 #include "mbed.h"
00002 #include "uLCD_4DGL.h"
00003 #include "rtos.h"
00004 uLCD_4DGL uLCD(p28, p27, p30);
00005 #include "Robot.h"
00006 #include "Nav_Switch.h"
00007 BusOut mbedleds(LED1,LED2,LED3,LED4);
00008 Robot myRobot;
00009 Nav_Switch myNav( p21, p22, p23, p24, p25);
00010 
00011 int i = 11;
00012 int j = 11;
00013 int C1 = 11;
00014 int C2 = 32;
00015 int C3 = 53;
00016 int C4 = 74;
00017 int C5 = 95;
00018 int C6 = 116;
00019  
00020 int main()
00021 {   
00022     //Initialize Background
00023     uLCD.filled_rectangle(0, 0 , 127, 127, RED); 
00024     myRobot.drawOutline();
00025     while(i <= 116){  
00026         while(j <= 116){    
00027         myRobot.drawHelper(i,j);
00028         j = j + 21;
00029         }
00030     j = 11;
00031     i = i + 21;
00032     }
00033     myRobot.drawFrog();
00034     
00035     //Auto-pilot Testing
00036     wait(1);
00037     myRobot.drawEraser();
00038     myRobot.moveForward();
00039     myRobot.drawFrog();
00040     wait(1);
00041     myRobot.drawEraser();
00042     myRobot.moveForward();
00043     myRobot.drawFrog();
00044     wait(1);
00045     myRobot.drawEraser();
00046     myRobot.moveLeft();
00047     myRobot.drawFrog();
00048     wait(1);
00049     myRobot.drawEraser();
00050     myRobot.moveBackward();
00051     myRobot.drawFrog();
00052      
00053     //Begin Processes    
00054     while(1) {
00055         mbedleds = ~(myNav & 0x0F); //update leds with nav switch direction inputs
00056         if(myNav.fire()) mbedleds = 0x0F; 
00057         wait(0.02);
00058     }
00059 }