Repository for verBOT robot project, hopefully featuring two branches: Dev/Test and Prod.
Dependencies: PM2_Libary Eigen
main.cpp
- Committer:
- pmic
- Date:
- 2021-03-30
- Revision:
- 0:f44522e28559
- Child:
- 1:93d997d6b232
File content as of revision 0:f44522e28559:
#include "mbed.h" #include "platform/mbed_thread.h" using namespace std::chrono; InterruptIn user_button(USER_BUTTON); DigitalOut led(LED1); bool executeMainTask = false; Timer user_button_timer, loop_timer; int Ts_ms = 50; void button_fall(); void button_rise(); /* input your stuff here */ AnalogIn analogIn(PA_0); float dist = 0.0f; int main() { user_button.fall(&button_fall); user_button.rise(&button_rise); loop_timer.start(); while (true) { loop_timer.reset(); /* ------------- start hacking ------------- -------------*/ if(executeMainTask) { dist = analogIn.read()*3.3f; /* do only output what's really necessary, outputting "Measured value in mV: "" within the loop is no good solution */ printf("Measured value in mV: %d\r\n", (static_cast<int>(dist * 1e3))); /* visual feedback that the main task is executed */ led = !led; } else { led = 0; } /* ------------- stop hacking ------------- -------------*/ int T_loop_ms = duration_cast<milliseconds>(loop_timer.elapsed_time()).count(); int dT_loop_ms = Ts_ms - T_loop_ms; thread_sleep_for(dT_loop_ms); } } void button_fall() { user_button_timer.reset(); user_button_timer.start(); } void button_rise() { int t_button = duration_cast<milliseconds>(user_button_timer.elapsed_time()).count(); user_button_timer.stop(); if(t_button > 200) executeMainTask = !executeMainTask; }