Diff: main.cpp

Revision:

0:42b722625abf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Nov 30 16:41:18 2012 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "Servo.h"
+
+DigitalOut myled(LED1);
+AnalogIn battery(p19);
+DigitalOut battery_warning(p24);
+Serial pc(USBTX, USBRX);
+LocalFileSystem local("local");               // Create the local filesystem under the name "local"
+Timer t;
+
+void warning_light_check(float);
+
+int main() {
+    pc.baud(9600);
+    const float BAT_MUL = 10.26;
+    const float BAT_LIM = 7.0;
+    float sample;
+    float voltage;
+    
+    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);
+    
+    FILE *fp = fopen("/local/battery.csv", "w");
+    fputs("Time,Battery\r\n", fp);
+    
+    t.start();
+
+    while(1) {
+        sample = battery.read();
+        voltage = sample*BAT_MUL;
+        fprintf(fp, "%f,%f\r\n", t.read(), voltage);
+        pc.printf("VBat: %4.3f, ADC: %4.3f, Vadc: %4.3f\r\n", voltage, sample, sample*3.3);
+        left_s = 1.0;
+        warning_light_check(voltage);
+        
+        wait(0.5);
+        
+        sample = battery.read();
+        voltage = sample*BAT_MUL;
+        fprintf(fp, "%f,%f\r\n", t.read(), voltage);
+        pc.printf("VBat: %4.3f, ADC: %4.3f, Vadc: %4.3f\r\n", voltage, sample, sample*3.3);
+        left_s = 0.0;
+        warning_light_check(voltage);
+        
+        wait(0.5);
+        
+        if(voltage < BAT_LIM)
+            break;
+    }
+    fclose(fp);
+    myled = 1;   
+}
+
+void warning_light_check(float voltage)
+{
+    if(voltage < 6.4)
+        battery_warning = 0;
+    else
+        battery_warning = 1;
+    wait(1);
+}