Diff: main.cpp

Revision:

3:717de74f6ebd

Parent:

2:45da48fab346

Child:

4:1be0f6c6ceae

diff -r 45da48fab346 -r 717de74f6ebd main.cpp
--- a/main.cpp	Fri Mar 29 20:09:21 2013 +0000
+++ b/main.cpp	Mon Apr 01 15:33:48 2013 +0000
@@ -1,12 +1,17 @@
+#pragma Otime // Compiler Optimisations
 
 // Eurobot13 main.cpp
 
 #include "mbed.h"
+Serial pc(USBTX, USBRX);
 
 #include "Actuators/MainMotors/MainMotor.h"
 #include "Sensors/Encoders/Encoder.h"
 #include "Actuators/Arms/Arm.h"
 #include "Others/EmergencyStop/EmergencyStop.h"
+#include "Sensors/Colour/Led.h"
+#include "Sensors/Colour/Colour.h"
+#include "Sensors/Colour/Phototransistor.h"
 
 
 
@@ -17,24 +22,102 @@
 void motorsandservostest();
 void armtest();
 void motortestline();
+void ledtest();
+void phototransistortest();
+void ledphototransistortest();
+void colourtest();
 
 int main() {
-/*  Setup Emergency stop for actuators,
-    Derive all actuators from the pure virtual actuator class
+/*  Setup EmergencyStop button for actuators.
+    Derive all actuators from the pure virtual actuator class!
 */  EmergencyStop EStop(p8); 
     
+/*****************
+ *   Test Code   *
+ *****************/
     //motortest();
     //encodertest();
     //motorencodetest();
     //motorencodetestline();
     //motorsandservostest();
-    armtest();
+    //armtest();
     //motortestline();
+    //ledtest();
+    //phototransistortest();
+    //ledphototransistortest();
+    colourtest(); // Red SnR too low
+}
+
+void colourtest(){
+    Colour c(p9,p10,p20);
+    c.Calibrate();
+    while(true){
+        wait(0.1);
+        ColourEnum ce = c.getColour();
+        switch(ce){
+            case BLUE :
+                pc.printf("BLUE\n\r");
+                break;
+            case RED:
+                pc.printf("RED\n\r");
+                break;
+            case WHITE:
+                pc.printf("WHITE\n\r");
+                break;
+            case INCONCLUSIVE:
+                pc.printf("INCONCLUSIVE\n\r");
+                break;
+            default:
+                pc.printf("BUG\n\r");
+        }
     }
 
+}
+
+
+void ledphototransistortest(){
+    Led blue(p9), red(p10);
+    Phototransistor pt(p20); 
+    Serial pc(USBTX, USBRX);
+
+    while(true){
+        blue.on();red.off();
+        for(int i = 0; i != 5; i++){
+            wait(0.1);
+            pc.printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
+        }
+        blue.off();red.on();
+        for(int i = 0; i != 5; i++){
+            wait(0.1);
+            pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
+        }
+    } 
+}
+
+void phototransistortest(){
+    Phototransistor pt(p20); 
+    Serial pc(USBTX, USBRX);
+    while(true){
+        wait(0.1);
+        pc.printf("Phototransistor Analog is: %f \n\r", pt.read());
+    }
+
+}
+
+void ledtest(){
+    Led blue(p9), red(p10);
+    while(true){
+        blue.on();red.off();
+        wait(0.2);
+        blue.off();red.on();
+        wait(0.2);
+    
+    }
+}
+
 void armtest(){
-    Arm white(p26), black(p25, false,0.0005, 180);
-    while(1){
+    Arm white(p26), black(p25, false, 0.0005, 180);
+    while(true){
         white(0);
         black(0);
         wait(1);
@@ -137,7 +220,7 @@
     Encoder E1(p28, p27);
     Encoder E2(p29, p30);
     Serial pc(USBTX, USBRX);
-    while(1){
+    while(true){
         wait(0.1);
         pc.printf("Position is: %i \t %i \n\r", E1.getPoint(), E2.getPoint());
     }
@@ -145,7 +228,7 @@
 }
 void motortest(){
     MainMotor mright(p22,p21), mleft(p23,p24);
-    while(1) {
+    while(true) {
         wait(1);
         mleft(0.8); mright(0.8);
         wait(1);