Diff: main.cpp

Revision:

0:478ae94859c2

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 08 21:43:41 2012 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "Servo.h"
+ 
+LocalFileSystem local("local");               // Create the local filesystem under the name "local"
+BusOut leds(LED1, LED2, LED3, LED4);
+ 
+int main() {
+    leds = 0x0;
+    float right_pos, left_pos;
+    FILE *fp = fopen("/local/config.txt", "r");  // Open "config.txt" for reading
+    leds = 0x1;
+    fscanf(fp, "r:%f,l:%f", &right_pos, &left_pos);
+    leds = 0x2;
+    fclose(fp);
+    leds = 0x3;
+    
+    // servos
+    Servo left_s(p21);
+    Servo right_s(p22);
+    
+    left_s.calibrate_max(0.0007);
+    left_s.calibrate_min(-0.0014);
+    right_s.calibrate(0.0009);
+    
+    leds = 0x4;
+    
+    left_s = right_s = 1.0;
+    
+    wait(1);
+    
+    leds = 0x5;
+    
+    right_s = right_pos;
+    left_s = left_pos;
+    
+    leds = 0xF;
+    
+    AnalogIn battery(p19);
+    DigitalOut battery_warning(p24);
+    battery_warning = 1;
+
+    const float BAT_MUL = 10.26;
+    float battery_voltage;
+    
+    while(1) {
+        battery_voltage = battery.read() * BAT_MUL;
+        if(battery_voltage < 6.4)
+            battery_warning = 0;
+        if(battery_warning == 0 && battery_voltage > 6.4)
+            battery_warning = 1;
+            
+        wait(1.0);
+    }
+}
\ No newline at end of file