Diff: main.cpp

Revision:

6:9f698d1b2996

Parent:

5:5d34a8feffe2

--- a/main.cpp	Tue May 09 01:21:47 2017 +0000
+++ b/main.cpp	Sat May 13 19:42:23 2017 +0000
@@ -1,100 +1,193 @@
-/**
-* This is simple program to test usart with IR sensors.
-*/
 #include "mbed.h"
-#include "IRSensor.h"
-#include "encoder.h"
-//#include "motor.h"
- Serial serial (PA_9, PA_10);
+//#include "IRSensor.h"
+//#include "encoder.h"
+#include "left_motor.h"
+
+/*
+Serial serial (PA_9, PA_10);
+
 IRSensor testIR_RIGHT(PB_0, PA_4); //emmiter and receiver right most sensor
 IRSensor testIR_LEFT(PA_8, PC_5); //emmiter and receiver left most sensor
 IRSensor testIR_TOP1(PC_6, PA_7); //emmiter and receiver TOP LEFT sensor
 IRSensor testIR_TOP2(PB_10, PA_6); //emmiter and receiver TOP RIGHT sensor
 IRSensor testIR_DIAG_LEFT(PC_7, PC_4); //emmiter and receiver DIAG LEFT sensor
 IRSensor testIR_DIAG_RIGHT(PB_1, PA_5); //emmiter and receiver DIAG RIGHTsensor
- DigitalOut testLed(PB_12);
- DigitalOut testLed2(PB_13);
- DigitalOut testLed3(PB_14);
- DigitalOut testLed4(PB_15);
- AnalogIn Ain(PA_3);
- AnalogIn gyro(PC_1);
- DigitalOut gyro_sleep(PC_2);
+*/
+
+
+DigitalOut testLed(PB_12);
+DigitalOut testLed2(PB_13);
+DigitalOut testLed3(PB_14);
+DigitalOut testLed4(PB_15);
+
+/*
+AnalogIn Ain(PA_3);
+AnalogIn gyro(PC_1);
+DigitalOut gyro_sleep(PC_2);
+
  
+*/
+
 //Motor leftMotor(PB_7, PB_6);
 //Motor rightMotor(PB_9, PB_8);
+/*
+
+
+
+*/
+
 // pwm
+/*
 PwmOut motor_pwm_left_sig(PB_7);
 DigitalOut dir_left(PB_6);
 //// dir
 PwmOut motor_pwm_right_sig(PB_9);
 DigitalOut dir_right(PB_8);
-
-
+*/
+/*
 
 Encoder leftEncoder(PC_9, PC_8);
  
- int main ()
- {
-     serial.printf ("Start Program\n");
-     //leftMotor = 0.1f;
-     
-
-//         motor_pwm_left_sig.period(0.001f); 
-//         motor_pwm_left_sig.write(0.2f);
-//         motor_pwm_right_sig.period(0.001f); 
-//         motor_pwm_right_sig.write(0.6f);
-//         dir_left = 0;
-//         dir_right = 1;
-//         
-//         wait(7);
-//         motor_pwm_right_sig = 0;
-//         dir_right = 0;
-//         motor_pwm_left_sig = 0;
-         
-
-     //double angle 
-     
-     while (1)
-     {
-        testLed2 = 1; 
-        testLed3 = 1;
-         wait (0.2);
-         testLed2 = 0;
-         testLed3 = 0; 
-         wait (0.2); 
-         
-//         serial.printf("Left sensor: %f\r\n", testIR_LEFT.readIR());
-//         serial.printf("Left Diagnal %f\r\n", testIR_DIAG_LEFT.readIR());
-         serial.printf("TOP LEFT %f\r\n", testIR_TOP1.readIR());
-         serial.printf("TOP RIGHT %f\r\n", testIR_TOP2.readIR());
-//         serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
-//         serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
-         wait(1);
-         //______________TEST GYRO
-        double offset = .4451;
-         gyro_sleep = 1;
-        double gyro_value = (gyro.read() - offset) * .67 / offset * 600;  // Offset of .4455 measured experimentally
-     //   angle += gyro_value * .01;
-        wait(.01);
-       
-        serial.printf("Gyro value: %f\r\n", gyro_value);
-         
-         
-         //______________
-         
-         
-         //serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
-         //serial.printf("normalized: 0x%04X \r\n", Ain.read_u16());
-
-         if(Ain.read() < 0.67f){
+ 
+void battery_helper() {
+    if(Ain.read() < 0.67f){
              testLed = 1;
              testLed2 = 1;
              testLed3 = 1;
              testLed4 = 1;
              serial.printf("voltage is in danger area, UNPLUG\r\n");
-         }
+    }
+} 
+*/
+
+/*
+void toggle() {
+    testLed2 = 1; 
+    testLed3 = 1;
+    
+    leftMotor.speed(0.2f);
+    rightMotor.speed(0.2f);
+    
+    
+    motor_pwm_left_sig.period(0.001f); 
+    motor_pwm_left_sig.write(0.2f);
+    motor_pwm_right_sig.period(0.001f); 
+    motor_pwm_right_sig.write(0.6f);
+    
+    wait(5);
+    motor_pwm_right_sig = 0;
+    motor_pwm_left_sig = 0;
+    
+ 
+} */
+ 
+int main ()
+{
+    //serial.printf ("Start Program\n");
+    testLed2 = 1; 
+    testLed3 = 1;
+    
+    LeftMotor * motor = new LeftMotor();
+    motor->inv_dir(0);
+    motor->speed(0.9f);
+    
+    
+    /*
+    
+    PwmOut motor_pwm_left_sig(PB_7);
+    DigitalOut dir_left(PB_6);
+    //// dir
+    PwmOut motor_pwm_right_sig(PB_9);
+    DigitalOut dir_right(PB_8);
+    
+    */
+    
+    /*
+    Motor * leftMotor = new Motor(PB_7, PB_6);
+    Motor * rightMotor = new Motor(PB_9, PB_8);
+    
+    leftMotor->speed(0.2f);
+    rightMotor->speed(0.2f);
+    */
+    
+    //leftMotor = 0.2f;
+    //rightMotor = 0.2f;
+        
+    /* 
+     wait(3);
+     toggle();
+     
+     wait(3);
+     toggle();
+     
+     wait(3);
+     toggle();
+     
+     wait(3);
+     toggle();
+     */
+     
+     //double angle 
+     /*
+     while (1)
+     {
+        battery_helper();
+        
+        testLed2 = 1; 
+        testLed3 = 1;
+         
+        // wait (0.2);
+        // testLed2 = 0;
+        // testLed3 = 0; 
+         //wait (0.2); 
+         
+
+         motor_pwm_left_sig.period(0.001f); 
+         motor_pwm_left_sig.write(0.2f);
+         motor_pwm_right_sig.period(0.001f); 
+         motor_pwm_right_sig.write(0.6f);
+         dir_left = 0;
+         dir_right = 1;
+         
+         wait(2);
+         
+         motor_pwm_right_sig = 0;
+         dir_right = 0;
+         motor_pwm_left_sig = 0;
+         
        
          int dist = getEncoderDistance();
          //serial.printf("Encoder %d \r\n", getEncoderDistance());        
-     }
- } 
\ No newline at end of file
+     } */
+ }
+ 
+
+ /*
+ void motor_tester() {
+
+ } 
+
+ void sensor_tester() {
+     //         serial.printf("Left sensor: %f\r\n", testIR_LEFT.readIR());
+    //         serial.printf("Left Diagnal %f\r\n", testIR_DIAG_LEFT.readIR());
+         serial.printf("TOP LEFT %f\r\n", testIR_TOP1.readIR());
+         serial.printf("TOP RIGHT %f\r\n", testIR_TOP2.readIR());
+    //         serial.printf("Right Diagnal %f\r\n", testIR_DIAG_RIGHT.readIR());
+    //         serial.printf("Right sensor: %f\r\n", testIR_RIGHT.readIR());
+         wait(1);
+         
+ }
+ 
+ void voltage_tester() {
+    serial.printf("voltage value is: %3.3f%%\r\n", Ain.read()*100.0f);
+    serial.printf("normalized: 0x%04X \r\n", Ain.read_u16());
+ } 
+ 
+ void gyro_tester() {
+    double offset = .4451;
+    gyro_sleep = 1;
+    double gyro_value = (gyro.read() - offset) * .67 / offset * 600;  // Offset of .4455 measured experimentally
+    angle += gyro_value * .01;
+    wait(.01);
+    serial.printf("Gyro value: %f\r\n", gyro_value);
+ } */
\ No newline at end of file