Diff: main.cpp

Revision:

2:b78dfa2afe92

Parent:

1:11970e541ecf

Child:

3:34a763e93423

--- a/main.cpp	Thu Mar 23 04:23:49 2017 +0000
+++ b/main.cpp	Sat May 06 23:10:06 2017 +0000
@@ -1,34 +1,57 @@
 /**
 * This is simple program to test usart with IR sensors.
 */
-
 #include "mbed.h"
 #include "IRSensor.h"
- Serial serial (USBTX, USBRX);
- IRSensor testIR (PC_7, PC_5); //pc7 is the output and pc5 is the input
- DigitalOut testLed(PC_8);
- 
+//#include "encoder.h"
+#include "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
+ DigitalOut testLed(PB_12);
+ DigitalOut testLed2(PB_13);
+ DigitalOut testLed3(PB_14);
+ DigitalOut testLed4(PB_15);
+ AnalogIn Ain(PA_3);
+//Motor leftMotor(PB_7, PB_6);
+Motor rightMotor(PB_9, PB_8);
+//Encoder leftEncoder(PC_9, PC_8);
  
  int main ()
  {
      serial.printf ("Start Program\n");
-     
+     //leftMotor = 0.1f;
      
      while (1)
      {
-         //serial.putc(serial.getc());
-         if(testIR.readIR()){
-              testLed = 1; 
-          
-            serial.printf("value is: %f\r\n", testIR.readIR());
-            wait (0.5);
+        testLed2 = 1; 
+         wait (0.2);
+         testLed2 = 0; 
+         wait (0.2); 
+        // for (int i = 0; i < 3; i++) {
+//            leftMotor.speed(0);
+            rightMotor.speed(-0.02f);
+//            rightMotor.dir
+            
+       //     leftMotor.stop();
+//            rightMotor.stop();
+//            serial.printf("Left Motor speed is at: %f \n", leftMotor.read());    
+            serial.printf("Right Motor speed is at: %f \n", rightMotor.read());
+         //}
+         
+         
+         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){
+             testLed = 1;
+             testLed2 = 1;
+             testLed3 = 1;
+             testLed4 = 1;
+             serial.printf("voltage is in danger area, UNPLUG\r\n");
          }
-         else{
-            testLed = 1; 
-            wait (0.2);
-            testLed = 0; 
-            wait (0.2);
-         }     
-        
+       
+         //int dist = leftEncoder.getEncoderDistance();
+         //serial.printf("Encoder %d \r\n", getEncoderDistance());        
      }
  } 
\ No newline at end of file