Diff: main.cpp

Revision:

0:200635fa1b08

Child:

1:8119211eae14

diff -r 000000000000 -r 200635fa1b08 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 29 11:35:34 2013 +0000
@@ -0,0 +1,127 @@
+
+// Eurobot13 main.cpp
+
+#include "mbed.h"
+
+#include "Actuators/MainMotor/MainMotor.h"
+#include "Sensors/Encoder/Encoder.h"
+#include "Actuators/Servo/Servo.h"
+
+PwmOut Led(LED1);
+
+void motortest();
+void encodertest();
+void motorencodetest();
+void motorencodetestline();
+void motorsandservostest();
+
+int main() {
+    //motortest();
+    //encodertest();
+    //motorencodetest();
+    motorencodetestline();
+    //motorsandservostest();
+}
+
+void motorsandservostest(){
+    Encoder Eleft(p27, p28), Eright(p30, p29);
+    MainMotor mleft(p24,p23), mright(p21,p22);
+    Servo sTop(p25), sBottom(p26);
+    Serial pc(USBTX, USBRX);
+    const float speed = 0.0;
+    const float dspeed = 0.0;
+    
+    Timer servoTimer;
+    mleft(speed); mright(speed);
+    servoTimer.start();
+    while (true){
+        pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
+        if (Eleft.getPoint() < Eright.getPoint()){
+            mleft(speed);
+            mright(speed - dspeed);
+        } else {
+            mright(speed);
+            mleft(speed - dspeed);
+        }
+        if (servoTimer.read() < 1){
+            sTop.clockwise();
+        } else if (servoTimer.read() < 4) {
+            sTop.relax();
+        } else if (servoTimer.read() < 5) {
+            sBottom.anticlockwise();
+            //Led=1;
+        } else if (servoTimer.read() < 6) {
+            sBottom.clockwise();
+            //Led=0;
+        } else if (servoTimer.read() < 7) {
+            sBottom.relax();
+        }else {
+            sTop.anticlockwise();
+        }
+        if (servoTimer.read() >= 9) servoTimer.reset();
+    }
+}
+
+void motorencodetestline(){
+    Encoder Eleft(p27, p28), Eright(p30, p29);
+    MainMotor mleft(p24,p23), mright(p21,p22);
+    Serial pc(USBTX, USBRX);
+    const float speed = 0.2;
+    const float dspeed = 0.1;
+
+    mleft(speed); mright(speed);
+    while (true){
+    //left 27 cm = 113 -> 0.239 cm/pulse
+    //right 27 cm = 72 -> 0.375 cm/pulse
+        pc.printf("Position is: %i \t %i \n\r", (int)(Eleft.getPoint()*0.239), (int)(Eright.getPoint()*0.375));
+        if (Eleft.getPoint()*0.239 < Eright.getPoint()*0.375){
+            mright(speed - dspeed);
+        } else {
+            mright(speed + dspeed);
+        }
+    }
+
+}
+
+void motorencodetest(){
+    Encoder Eleft(p28, p27), Eright(p29, p30);
+    MainMotor mleft(p23,p24), mright(p22,p21);
+    Serial pc(USBTX, USBRX);
+    
+    const float speed = -0.3;
+    const int enc = -38;
+    while(true){
+        mleft(speed); mright(0);
+        while(Eleft.getPoint()>enc){
+            pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
+        }
+        Eleft.reset(); Eright.reset();
+        mleft(0); mright(speed);
+        while(Eright.getPoint()>enc){
+            pc.printf("Position is: %i \t %i \n\r", Eleft.getPoint(), Eright.getPoint());
+        }
+        Eleft.reset(); Eright.reset();
+    }
+}
+
+void encodertest(){
+    Encoder E1(p28, p27);
+    Encoder E2(p29, p30);
+    Serial pc(USBTX, USBRX);
+    while(1){
+        wait(0.1);
+        pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint());
+    }
+
+}
+void motortest(){
+    MainMotor mright(p22,p21), mleft(p23,p24);
+    while(1) {
+        wait(1);
+        mleft(0.8); mright(0.8);
+        wait(1);
+        mleft(-0.2); mright(0.2);
+        wait(1);
+        mleft(0); mright(0);
+    }
+}
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