Diff: main.cpp

Revision:

0:c871d5355b99

Child:

1:719ac5a42c19

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Feb 07 06:14:32 2016 +0000
@@ -0,0 +1,107 @@
+#include <mbed.h>
+#include "Periphery/SupportSystem.h"
+#include "Misc/SystemTimer.h"
+#include "rtos.h"
+
+#define PI 3.14159265
+
+Serial serialXbee(p28,p27), serialMinnow(p13, p14);
+PwmOut drivePWM(p22), steerPWM(p21);
+I2C i2c(p9, p10);
+
+DigitalOut serialLED(LED1), ledTwo(LED2), ledThree(LED3), heartbeatLED(LED4);
+
+DigitalIn buttonOne(p25), buttonTwo(p26), buttonThree(p29), buttonFour(p30);
+DigitalIn redlight(p16);
+
+IMU_RegisterDataBuffer_t *IMU_registerDataBuffer;
+
+void hearbeat_thread(void const *args);
+
+int main() {
+    drivePWM.period_ms(20);
+    steerPWM.period_ms(20);
+
+    SystemTimer *millis = new SystemTimer();
+    SupportSystem *supportSystem = new SupportSystem(0x80, &i2c);
+    Thread hearbeatThread(hearbeat_thread);
+    
+    ledTwo =1;
+    ledThree = 1;
+    steerPWM.pulsewidth_us(1500);
+    //float strecke_anfang, strecke_ende, size_parking_space;
+
+    while(true){
+        //IMU_registerDataBuffer = supportSystem->getImuRegisterDataBuffer();
+        if(buttonFour == 1){
+        ledTwo = 0;
+//-------   1   ----------------
+  /*      drivePWM.pulsewidth_us(1700); //Vorwärts
+        wait_ms(2500);
+        drivePWM.pulsewidth_us(1500);   //Stehen
+        wait_ms(200);
+        drivePWM.pulsewidth_us(1325);   //1. Einschlag
+        steerPWM.pulsewidth_us(2000);
+        wait_ms(970);
+        steerPWM.pulsewidth_us(1000);   //2. Einschlag
+        wait_ms(950);
+        drivePWM.pulsewidth_us(1700);   //Korrektur nach vorne
+        steerPWM.pulsewidth_us(1700);
+        wait_ms(420);
+        drivePWM.pulsewidth_us(1500);   //Ende
+        steerPWM.pulsewidth_us(1500);
+        ledTwo = 1;*/
+//-------   2   ----------------        
+        drivePWM.pulsewidth_us(1800); //Vorwärts
+        wait_ms(825);
+        drivePWM.pulsewidth_us(1500);   //Stehen
+        wait_ms(200);
+        drivePWM.pulsewidth_us(1300);   //1. Einschlag
+        steerPWM.pulsewidth_us(2000);
+        wait_ms(680);
+        steerPWM.pulsewidth_us(1000);   //2. Einschlag
+        wait_ms(630);
+        drivePWM.pulsewidth_us(1700);   //Korrektur nach vorne
+        steerPWM.pulsewidth_us(1700);
+        wait_ms(420);
+        drivePWM.pulsewidth_us(1500);   //Ende
+        steerPWM.pulsewidth_us(1500);       
+        
+        
+        }
+        if(buttonOne == 1){
+            ledTwo = 0;
+            ledThree = 0;
+            drivePWM.pulsewidth_us(1500);
+        }
+    }
+        
+        
+        /*if(buttonFour == 1){
+            drivePWM.pulsewidth_us(1700);
+        
+            if(redlight == 1){
+                ledTwo = 1;
+                
+                do{
+                ledThree = 1;
+                }while(redlight == 1);
+                strecke_anfang = IMU_registerDataBuffer->distanceXRegister;
+                do{
+                    ledThree = 0;
+                }while(redlight == 0);
+                strecke_ende = IMU_registerDataBuffer->distanceXRegister;
+                size_parking_space = strecke_ende - strecke_anfang;
+                
+                }
+        }
+        */
+}
+
+
+void hearbeat_thread(void const *args) {
+    while(true) {
+        heartbeatLED = !heartbeatLED;
+        Thread::wait(100);
+    }
+}