zhouhang shao
/
test
test
main.cpp
- Committer:
- kolanery
- Date:
- 2017-05-13
- Revision:
- 6:9f698d1b2996
- Parent:
- 5:5d34a8feffe2
File content as of revision 6:9f698d1b2996:
#include "mbed.h" //#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); */ //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); 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()); } */ } /* 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); } */