Diff: main.cpp

Revision:

2:7964622fb5a5

Parent:

1:54a2d380f8c7

--- a/main.cpp	Fri Jul 01 09:41:15 2016 +0000
+++ b/main.cpp	Mon Jul 04 07:17:39 2016 +0000
@@ -1,15 +1,13 @@
 #include "mbed.h"
-//#include "rtos.h"
 #include "MicroduinoPinNames.h"
 #include "userDef.h"
 #include "Protocol.h"
 #include "Microduino_Motor.h"
 
-DigitalOut led_red(D5);
 
 Timer g_cubeTimer;
 //Timeout g_cubeTimeout;
-#if 1
+
 Motor MotorLeft(motor_pin0A, motor_pin0B);
 Motor MotorRight(motor_pin1A, motor_pin1B);
 ///////////////////////////////////////////////////////////
@@ -19,43 +17,22 @@
 int16_t throttle = 0; //油门
 int16_t steering = 0; //转向
 int safe_ms = 0;
-DigitalOut myled(D13);
-InterruptIn wkp(D0);
-InterruptIn wkp1(D1);
+
 static long map(long x, long in_min, long in_max, long out_min, long out_max)
 {
     return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-/*
-static void wake_up(void)
-{
-    //myled = 0;
-}
-*/
-
 int main()
 {
-#if 0// To test wake up from deepsleep(), failed....but wake up from sleep() work. sleep() will reduce 2mA.
-    wkp.fall(wake_up);
-    wkp.rise(&wake_up);
-    wkp1.fall(&wake_up);
-    wkp1.rise(&wake_up);
-#endif
-    led_red = 0;
-    //myled = 1;
-    //g_cubeTimer.start();
+
+    g_cubeTimer.start();
 
     mode = protocolSetup();  //遥控接收器初始化
 
     MotorLeft.Fix(motor_fixL);
     MotorRight.Fix(motor_fixR);
-    
-    MotorLeft.Driver(255);
-    MotorRight.Driver(255);
-    
-    wait(0.5);
-    //mypc.baud(115200);
+
     
     while (1) {
         
@@ -75,36 +52,7 @@
         if (g_cubeTimer.read_ms() - safe_ms > SAFE_TIME_OUT) {
             MotorLeft.Free();
             MotorRight.Free();
-            //sleep();//待机待机电流可减少4mA左右
-            //deepsleep();
         }
         
     } // while
-}
-
-#else
-DigitalOut myled(D13);
-PwmOut PWM_A(motor_pin0A);
-PwmOut PWM_B(motor_pin0B);
-int pv = 0;
-int main()
-{
-    myled.write(1);
-    PWM_A.period_us(255);
-    PWM_B.period_us(255);
-
-    PWM_A.pulsewidth_us(200);
-    PWM_B.pulsewidth_us(0);
-    while (1) {
-#if 0
-        PWM_B.pulsewidth_us(pv);
-        pv++;
-#endif
-        wait(0.5);
-        myled = !myled;
-        if (pv >= 255) {
-            pv = 0;
-        }
-    }
-}
-#endif
\ No newline at end of file
+}
\ No newline at end of file