zhouhang shao / Mbed 2 deprecated test

test

Dependencies:   RemoteIR mbed

main.cpp@6:9f698d1b2996, 2017-05-13 (annotated)

Committer:
kolanery
Date:
Sat May 13 19:42:23 2017 +0000
Revision:
6:9f698d1b2996
Parent:
5:5d34a8feffe2 
update test case

Who changed what in which revision?

UserRevisionLine numberNew contents of line
szh66 0:3c59bc5c9388 1 #include "mbed.h"
kolanery 6:9f698d1b2996 2 //#include "IRSensor.h"
kolanery 6:9f698d1b2996 3 //#include "encoder.h"
kolanery 6:9f698d1b2996 4 #include "left_motor.h"
kolanery 6:9f698d1b2996 5
kolanery 6:9f698d1b2996 6 /*
kolanery 6:9f698d1b2996 7 Serial serial (PA_9, PA_10);
kolanery 6:9f698d1b2996 8
FengjunyanLi 4:86927e61e1e3 9 IRSensor testIR_RIGHT(PB_0, PA_4); //emmiter and receiver right most sensor
FengjunyanLi 4:86927e61e1e3 10 IRSensor testIR_LEFT(PA_8, PC_5); //emmiter and receiver left most sensor
FengjunyanLi 4:86927e61e1e3 11 IRSensor testIR_TOP1(PC_6, PA_7); //emmiter and receiver TOP LEFT sensor
FengjunyanLi 4:86927e61e1e3 12 IRSensor testIR_TOP2(PB_10, PA_6); //emmiter and receiver TOP RIGHT sensor
FengjunyanLi 4:86927e61e1e3 13 IRSensor testIR_DIAG_LEFT(PC_7, PC_4); //emmiter and receiver DIAG LEFT sensor
FengjunyanLi 4:86927e61e1e3 14 IRSensor testIR_DIAG_RIGHT(PB_1, PA_5); //emmiter and receiver DIAG RIGHTsensor
kolanery 6:9f698d1b2996 15 */
kolanery 6:9f698d1b2996 16
kolanery 6:9f698d1b2996 17
kolanery 6:9f698d1b2996 18 DigitalOut testLed(PB_12);
kolanery 6:9f698d1b2996 19 DigitalOut testLed2(PB_13);
kolanery 6:9f698d1b2996 20 DigitalOut testLed3(PB_14);
kolanery 6:9f698d1b2996 21 DigitalOut testLed4(PB_15);
kolanery 6:9f698d1b2996 22
kolanery 6:9f698d1b2996 23 /*
kolanery 6:9f698d1b2996 24 AnalogIn Ain(PA_3);
kolanery 6:9f698d1b2996 25 AnalogIn gyro(PC_1);
kolanery 6:9f698d1b2996 26 DigitalOut gyro_sleep(PC_2);
kolanery 6:9f698d1b2996 27
szh66 5:5d34a8feffe2 28
kolanery 6:9f698d1b2996 29 */
kolanery 6:9f698d1b2996 30
szh66 2:b78dfa2afe92 31 //Motor leftMotor(PB_7, PB_6);
FengjunyanLi 4:86927e61e1e3 32 //Motor rightMotor(PB_9, PB_8);
kolanery 6:9f698d1b2996 33 /*
kolanery 6:9f698d1b2996 34
kolanery 6:9f698d1b2996 35
kolanery 6:9f698d1b2996 36
kolanery 6:9f698d1b2996 37 */
kolanery 6:9f698d1b2996 38
szh66 3:34a763e93423 39 // pwm
kolanery 6:9f698d1b2996 40 /*
szh66 3:34a763e93423 41 PwmOut motor_pwm_left_sig(PB_7);
szh66 3:34a763e93423 42 DigitalOut dir_left(PB_6);
szh66 3:34a763e93423 43 //// dir
szh66 3:34a763e93423 44 PwmOut motor_pwm_right_sig(PB_9);
szh66 3:34a763e93423 45 DigitalOut dir_right(PB_8);
kolanery 6:9f698d1b2996 46 */
kolanery 6:9f698d1b2996 47 /*
FengjunyanLi 4:86927e61e1e3 48
szh66 3:34a763e93423 49 Encoder leftEncoder(PC_9, PC_8);
szh66 0:3c59bc5c9388 50
kolanery 6:9f698d1b2996 51
kolanery 6:9f698d1b2996 52 void battery_helper() {
kolanery 6:9f698d1b2996 53 if(Ain.read() < 0.67f){
szh66 2:b78dfa2afe92 54 testLed = 1;
szh66 2:b78dfa2afe92 55 testLed2 = 1;
szh66 2:b78dfa2afe92 56 testLed3 = 1;
szh66 2:b78dfa2afe92 57 testLed4 = 1;
szh66 2:b78dfa2afe92 58 serial.printf("voltage is in danger area, UNPLUG\r\n");
kolanery 6:9f698d1b2996 59 }
kolanery 6:9f698d1b2996 60 }
kolanery 6:9f698d1b2996 61 */
kolanery 6:9f698d1b2996 62
kolanery 6:9f698d1b2996 63 /*
kolanery 6:9f698d1b2996 64 void toggle() {
kolanery 6:9f698d1b2996 65 testLed2 = 1;
kolanery 6:9f698d1b2996 66 testLed3 = 1;
kolanery 6:9f698d1b2996 67
kolanery 6:9f698d1b2996 68 leftMotor.speed(0.2f);
kolanery 6:9f698d1b2996 69 rightMotor.speed(0.2f);
kolanery 6:9f698d1b2996 70
kolanery 6:9f698d1b2996 71
kolanery 6:9f698d1b2996 72 motor_pwm_left_sig.period(0.001f);
kolanery 6:9f698d1b2996 73 motor_pwm_left_sig.write(0.2f);
kolanery 6:9f698d1b2996 74 motor_pwm_right_sig.period(0.001f);
kolanery 6:9f698d1b2996 75 motor_pwm_right_sig.write(0.6f);
kolanery 6:9f698d1b2996 76
kolanery 6:9f698d1b2996 77 wait(5);
kolanery 6:9f698d1b2996 78 motor_pwm_right_sig = 0;
kolanery 6:9f698d1b2996 79 motor_pwm_left_sig = 0;
kolanery 6:9f698d1b2996 80
kolanery 6:9f698d1b2996 81
kolanery 6:9f698d1b2996 82 } */
kolanery 6:9f698d1b2996 83
kolanery 6:9f698d1b2996 84 int main ()
kolanery 6:9f698d1b2996 85 {
kolanery 6:9f698d1b2996 86 //serial.printf ("Start Program\n");
kolanery 6:9f698d1b2996 87 testLed2 = 1;
kolanery 6:9f698d1b2996 88 testLed3 = 1;
kolanery 6:9f698d1b2996 89
kolanery 6:9f698d1b2996 90 LeftMotor * motor = new LeftMotor();
kolanery 6:9f698d1b2996 91 motor->inv_dir(0);
kolanery 6:9f698d1b2996 92 motor->speed(0.9f);
kolanery 6:9f698d1b2996 93
kolanery 6:9f698d1b2996 94
kolanery 6:9f698d1b2996 95 /*
kolanery 6:9f698d1b2996 96
kolanery 6:9f698d1b2996 97 PwmOut motor_pwm_left_sig(PB_7);
kolanery 6:9f698d1b2996 98 DigitalOut dir_left(PB_6);
kolanery 6:9f698d1b2996 99 //// dir
kolanery 6:9f698d1b2996 100 PwmOut motor_pwm_right_sig(PB_9);
kolanery 6:9f698d1b2996 101 DigitalOut dir_right(PB_8);
kolanery 6:9f698d1b2996 102
kolanery 6:9f698d1b2996 103 */
kolanery 6:9f698d1b2996 104
kolanery 6:9f698d1b2996 105 /*
kolanery 6:9f698d1b2996 106 Motor * leftMotor = new Motor(PB_7, PB_6);
kolanery 6:9f698d1b2996 107 Motor * rightMotor = new Motor(PB_9, PB_8);
kolanery 6:9f698d1b2996 108
kolanery 6:9f698d1b2996 109 leftMotor->speed(0.2f);
kolanery 6:9f698d1b2996 110 rightMotor->speed(0.2f);
kolanery 6:9f698d1b2996 111 */
kolanery 6:9f698d1b2996 112
kolanery 6:9f698d1b2996 113 //leftMotor = 0.2f;
kolanery 6:9f698d1b2996 114 //rightMotor = 0.2f;
kolanery 6:9f698d1b2996 115
kolanery 6:9f698d1b2996 116 /*
kolanery 6:9f698d1b2996 117 wait(3);
kolanery 6:9f698d1b2996 118 toggle();
kolanery 6:9f698d1b2996 119
kolanery 6:9f698d1b2996 120 wait(3);
kolanery 6:9f698d1b2996 121 toggle();
kolanery 6:9f698d1b2996 122
kolanery 6:9f698d1b2996 123 wait(3);
kolanery 6:9f698d1b2996 124 toggle();
kolanery 6:9f698d1b2996 125
kolanery 6:9f698d1b2996 126 wait(3);
kolanery 6:9f698d1b2996 127 toggle();
kolanery 6:9f698d1b2996 128 */
kolanery 6:9f698d1b2996 129
kolanery 6:9f698d1b2996 130 //double angle
kolanery 6:9f698d1b2996 131 /*
kolanery 6:9f698d1b2996 132 while (1)
kolanery 6:9f698d1b2996 133 {
kolanery 6:9f698d1b2996 134 battery_helper();
kolanery 6:9f698d1b2996 135
kolanery 6:9f698d1b2996 136 testLed2 = 1;
kolanery 6:9f698d1b2996 137 testLed3 = 1;
kolanery 6:9f698d1b2996 138
kolanery 6:9f698d1b2996 139 // wait (0.2);
kolanery 6:9f698d1b2996 140 // testLed2 = 0;
kolanery 6:9f698d1b2996 141 // testLed3 = 0;
kolanery 6:9f698d1b2996 142 //wait (0.2);
kolanery 6:9f698d1b2996 143
kolanery 6:9f698d1b2996 144
kolanery 6:9f698d1b2996 145 motor_pwm_left_sig.period(0.001f);
kolanery 6:9f698d1b2996 146 motor_pwm_left_sig.write(0.2f);
kolanery 6:9f698d1b2996 147 motor_pwm_right_sig.period(0.001f);
kolanery 6:9f698d1b2996 148 motor_pwm_right_sig.write(0.6f);
kolanery 6:9f698d1b2996 149 dir_left = 0;
kolanery 6:9f698d1b2996 150 dir_right = 1;
kolanery 6:9f698d1b2996 151
kolanery 6:9f698d1b2996 152 wait(2);
kolanery 6:9f698d1b2996 153
kolanery 6:9f698d1b2996 154 motor_pwm_right_sig = 0;
kolanery 6:9f698d1b2996 155 dir_right = 0;
kolanery 6:9f698d1b2996 156 motor_pwm_left_sig = 0;
kolanery 6:9f698d1b2996 157
szh66 2:b78dfa2afe92 158
FengjunyanLi 4:86927e61e1e3 159 int dist = getEncoderDistance();
FengjunyanLi 4:86927e61e1e3 160 //serial.printf("Encoder %d \r\n", getEncoderDistance());
kolanery 6:9f698d1b2996 161 } */
kolanery 6:9f698d1b2996 162 }
kolanery 6:9f698d1b2996 163
kolanery 6:9f698d1b2996 164
kolanery 6:9f698d1b2996 165 /*
kolanery 6:9f698d1b2996 166 void motor_tester() {
kolanery 6:9f698d1b2996 167
kolanery 6:9f698d1b2996 168 }
kolanery 6:9f698d1b2996 169
kolanery 6:9f698d1b2996 170 void sensor_tester() {
kolanery 6:9f698d1b2996 171 // serial.printf("Left sensor: %f\r\n", testIR_LEFT.readIR());
kolanery 6:9f698d1b2996 172 // serial.printf("Left Diagnal %f\r\n", testIR_DIAG_LEFT.readIR());
kolanery 6:9f698d1b2996 173 serial.printf("TOP LEFT %f\r\n", testIR_TOP1.readIR());
kolanery 6:9f698d1b2996 174 serial.printf("TOP RIGHT %f\r\n", testIR_TOP2.readIR());
kolanery 6:9f698d1b2996 175 // serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
kolanery 6:9f698d1b2996 176 // serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
kolanery 6:9f698d1b2996 177 wait(1);
kolanery 6:9f698d1b2996 178
kolanery 6:9f698d1b2996 179 }
kolanery 6:9f698d1b2996 180
kolanery 6:9f698d1b2996 181 void voltage_tester() {
kolanery 6:9f698d1b2996 182 serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
kolanery 6:9f698d1b2996 183 serial.printf("normalized: 0x%04X \r\n", Ain.read_u16());
kolanery 6:9f698d1b2996 184 }
kolanery 6:9f698d1b2996 185
kolanery 6:9f698d1b2996 186 void gyro_tester() {
kolanery 6:9f698d1b2996 187 double offset = .4451;
kolanery 6:9f698d1b2996 188 gyro_sleep = 1;
kolanery 6:9f698d1b2996 189 double gyro_value = (gyro.read() - offset) * .67 / offset * 600; // Offset of .4455 measured experimentally
kolanery 6:9f698d1b2996 190 angle += gyro_value * .01;
kolanery 6:9f698d1b2996 191 wait(.01);
kolanery 6:9f698d1b2996 192 serial.printf("Gyro value: %f\r\n", gyro_value);
kolanery 6:9f698d1b2996 193 } */