Diff: main.cpp

Revision:

12:2de7e289b264

Parent:

11:0309bef74ba8

--- a/main.cpp	Wed Feb 15 14:04:02 2017 -0600
+++ b/main.cpp	Sat Apr 15 16:02:26 2017 +0000
@@ -1,22 +1,100 @@
 #include "mbed.h"
 #include "rtos.h"
+#include "Motor.h"
  
-DigitalOut led1(LED1);
+
 DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+AnalogIn inputx(p20); // input pins 20,19,18 for x,y,z axis respectively.
+AnalogIn inputy(p19);
+Motor m1(p23,p5,p6); // pwm, fwd, rev
+Serial pc(USBTX,USBRX); 
+
+
 Thread thread;
  
 void led2_thread() {
     while (true) {
+         for (float s= -1.0; s > -1000.0 ; s += -0.01)
+             m1.speed(s); // anticlockwise
+        
         led2 = !led2;
-        Thread::wait(1000);
+        Thread::wait(10000);
     }
 }
+
+void led3_thread() {
+    while (true) {
+         for (float s= 1.0; s < 1000.0 ; s += 0.01)
+       m1.speed(s); // clockwise
+        
+        led3 = !led3;
+        Thread::wait(10000);
+    }
+}
+
+
+
+
+
+
+
+
  
 int main() {
-    thread.start(led2_thread);
+    pc.baud(9600);   // fixing a constant baud rate of 9600 bps at which mbed will interact with computer
+float cal_x,cal_y;  //caliberation variables
+int x,y; // variables for x,y,z axes
+int i=100;
+while(i--)      //small timed loop to caliberate the accelerometer with currentl position of the accelerometer
+{
+cal_x=inputx*100;
+cal_y=inputy*100;
+
+}
+while(1)
+    {  
+        x=4*(cal_x - inputx*100);
+        y=4*(cal_y - inputy*100);
+ 
+  
+    y=(y-30);
+      pc.printf("x=%d,y=%d *",x,y);
+      pc.printf("\n");
+     
+    if(x <= 0 && y <=0)
+   {
+       thread.start(led2_thread);
     
-    while (true) {
-        led1 = !led1;
-        Thread::wait(500);
+   }
+   
+     
+    else if (x>=0 && y>=0)
+   { 
+      thread.start(led3_thread);                                                                                              
+  
+   }
+    
+    else if (x>=0 && y<=0)
+    {
+        thread.start(led2_thread);
+        }
+       
+       else if(x<=0 && y>=0)
+       {
+           
+           thread.start(led3_thread);       
+           }
+           
+     
+        //passing the caliberated x,y,z values to the computer.
+          
+     
+      
+    
+    
+   
+    
+    
     }
 }