Tuk ZeroFour / Mbed 2 deprecated Kenya_2019

Tuk workshop

Dependencies:   mbed RC_Servo VMA306 PID CNY70 CMPS03 GP2A Pixy

main.cpp@9:4053b5217339, 2019-10-24 (annotated)

Committer:
tuk4
Date:
Thu Oct 24 14:21:22 2019 +0000
Revision:
9:4053b5217339
Parent:
8:2d4887624f94
Child:
10:6c3653c53eca
on progress 24-10-2019

Who changed what in which revision?

UserRevisionLine numberNew contents of line
haarkon 0:4902b3f17137 1 #include "mbed.h"
haarkon 0:4902b3f17137 2 #include "CMPS03.h"
haarkon 0:4902b3f17137 3 #include "CNY70.h"
haarkon 0:4902b3f17137 4 #include "GP2A.h"
haarkon 0:4902b3f17137 5 #include "VMA306.h"
haarkon 3:0221daeeaa86 6 #include "Pixy.h"
haarkon 4:5038b4cd1088 7 #include "PID.h"
haarkon 4:5038b4cd1088 8
haarkon 4:5038b4cd1088 9 #define PI 3.1415926535898
haarkon 0:4902b3f17137 10
haarkon 8:2d4887624f94 11 Serial pc (PA_2, PA_3, 115200);
haarkon 7:6d58adc26b78 12 PID motor (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);
haarkon 0:4902b3f17137 13
haarkon 3:0221daeeaa86 14 CMPS03 boussole (PC_4);
haarkon 0:4902b3f17137 15
haarkon 3:0221daeeaa86 16 CNY70 ligneD (PC_3);
haarkon 3:0221daeeaa86 17 CNY70 ligneG (PC_2);
haarkon 3:0221daeeaa86 18 CNY70 exterior (PA_7);
haarkon 0:4902b3f17137 19
haarkon 8:2d4887624f94 20 VMA306 ultraSon (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);
haarkon 0:4902b3f17137 21
haarkon 8:2d4887624f94 22 PIXY pixy (PA_0, PA_1, 115200);
haarkon 0:4902b3f17137 23
haarkon 8:2d4887624f94 24 InterruptIn bp (PC_13);
haarkon 4:5038b4cd1088 25
haarkon 0:4902b3f17137 26 DigitalOut led1 (PA_5);
haarkon 0:4902b3f17137 27 DigitalOut led2 (PD_2);
haarkon 8:2d4887624f94 28 DigitalOut unused1 (PB_10);
haarkon 8:2d4887624f94 29 DigitalOut unused2 (PA_15);
haarkon 8:2d4887624f94 30 DigitalOut unused3 (PA_12);
haarkon 8:2d4887624f94 31
haarkon 8:2d4887624f94 32 DigitalIn unused4 (PA_4, PullUp);
haarkon 8:2d4887624f94 33 DigitalIn unused5 (PB_0, PullUp);
haarkon 8:2d4887624f94 34 DigitalIn unused6 (PC_1, PullUp);
haarkon 8:2d4887624f94 35 DigitalIn unused7 (PC_0, PullUp);
haarkon 8:2d4887624f94 36
haarkon 8:2d4887624f94 37 Timer temps;
haarkon 0:4902b3f17137 38
tuk4 9:4053b5217339 39 int main ()
haarkon 3:0221daeeaa86 40 {
tuk4 9:4053b5217339 41 motor.resetPosition();
tuk4 9:4053b5217339 42 double x=0, y, theta = 0;
haarkon 3:0221daeeaa86 43
haarkon 3:0221daeeaa86 44 while (1) {
tuk4 9:4053b5217339 45 double speed_L = 50, speed_R = 50;
tuk4 9:4053b5217339 46 while (x <= 200)
tuk4 9:4053b5217339 47 {
tuk4 9:4053b5217339 48 motor.setSpeed(speed_L,speed_R);
tuk4 9:4053b5217339 49 motor.getPosition(&x, &y, &theta);
tuk4 9:4053b5217339 50 pc.printf("\r x = %lf", x);
tuk4 9:4053b5217339 51 }
tuk4 9:4053b5217339 52 motor.setSpeed(0,0);
haarkon 3:0221daeeaa86 53 }
tuk4 9:4053b5217339 54
tuk4 9:4053b5217339 55 return 0;
haarkon 0:4902b3f17137 56 }