zhouhang shao
/
test
test
main.cpp
- Committer:
- szh66
- Date:
- 2017-05-07
- Revision:
- 3:34a763e93423
- Parent:
- 2:b78dfa2afe92
- Child:
- 4:86927e61e1e3
File content as of revision 3:34a763e93423:
/** * 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); //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); // 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); //Motor rightMotor(PB_9, PB_8); Encoder leftEncoder(PC_9, PC_8); int main () { serial.printf ("Start Program\n"); //leftMotor = 0.1f; while (1) { testLed2 = 1; wait (0.2); testLed2 = 0; wait (0.2); // motor_pwm_left_sig.period(0.001f); motor_pwm_left_sig.write(0.3f); motor_pwm_right_sig.period(0.001f); motor_pwm_right_sig.write(0.5f); dir_left = 1; dir_right = 1; //serial.printf("start"); // for (int i = 0; i < 3; i++) { // leftMotor.speed(0.15f); // rightMotor.speed(0.15f); // 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"); } //int dist = leftEncoder.getEncoderDistance(); serial.printf("Encoder %d \r\n", getEncoderDistance()); } }