Diff: main.cpp

Revision:

1:963bf6581114

Parent:

0:1da3cc3bc3a5

--- a/main.cpp	Thu Dec 02 07:21:02 2010 +0000
+++ b/main.cpp	Thu Oct 15 16:51:04 2015 +0000
@@ -1,59 +1,108 @@
 #include "mbed.h"
+#include "m3pi.h"
 
-Serial transmit(p28,p27);
-Timer t;
+//Ticker toggler1;  // periodic interrupt routines
 InterruptIn risingEdge(p16);
 
+m3pi m3pi;
+Serial Wixel(p28, p27); // tx, rx
+AnalogIn analog (p20);
 DigitalOut myled(LED1);
-DigitalOut myled2(LED2);
+
+int behaviour;
+float inc;
+bool incCurve;
+bool sign = true;
+volatile int ledValue;
 
-long int count;
+void changeCurve()
+{
+    if (sign)
+    {
+        inc = 0.35;
+    }
+    else
+    {
+        inc = 0.45;
+    }
+    sign = !sign;
+}
 
-//Increment the counter variable
-void pulses() {
-    if(myled2 == 1) {
-        myled2 = 0;
-    } else {
-        myled2 = 1;
+//Generate series of circles with different radius
+void seriesOfCircle()
+{
+    if(incCurve)
+    {
+        inc += 0.001;
+    }
+    else
+    {
+        inc -= 0.001;        
     }
-    count++;
+    
+    if(inc >= 0.6){incCurve = false;}
+    if(inc <= 0.45){incCurve = true;}
+}
+
+void toggleLED()
+{
+
+    if (ledValue == 0)
+    {
+        ledValue = 1;
+    }
+    else
+    {
+        ledValue = 0;
+    }
+
+   myled = ledValue;
+   
+}
+
+unsigned int random_generator (void)
+{
+    unsigned int x = 0;
+    unsigned int iRandom = 0;
+ 
+    for (x = 0; x <= 32; x += 2)
+    {
+        iRandom += ((analog.read_u16() % 3) << x);
+        wait_us (10);
+    }
+    
+    return iRandom;
 }
 
 //main program
-int main() {
-
-    risingEdge.rise(&pulses);
-   
-    while(1) {
-       
-      //  myled = 0;
-        
-        t.reset();
-        t.start();
-        count = 0;
-        while(t.read_ms() < 400) {
-            ;
+int main() 
+{
+     
+    Wixel.baud(115200);
+    //srand (random_generator()); // Using ADC value to generate random seed
+    risingEdge.rise(&toggleLED);
+    ledValue = 0;
+    //toggler1.attach(&changeCurve,0.9);  // toggles curve every 900 ms
+    //inc = 0.45;
+    //incCurve = true;
+    while(1)  
+    {
+        //behaviour = rand() % 5 + 1;        
+        switch (behaviour)
+        {
+            case 1:
+                // This is for testing rose curve
+                //m3pi.left_motor(inc);
+                //wait(0.1);
+                //m3pi.right_motor(0.7);
+                //wait(0.1);
+                break;
+            case 2:
+            
+                break;
         }
+    }
        
-        t.stop();
-      //  myled = 1;
-        long int temp = count;
-       // lcdout.putc(0xFE);
-      //  lcdout.putc(0x01);
-      //  lcdout.printf("Count: %d\n", temp);
-     // transmit.printf("Count: %d", temp);
-        double rev = (double)temp/30.0;
-        double sec = 1000.0/(double)t.read_ms();
-        double rps = rev * sec;
-        double rpm = rps*60.0;
-        int irpm = (int)rpm;
-        
-        //lcdout.printf("Speed: %0.2f RPM", rpm);
-      //  transmit.printf(" Speed: %0.2f RPM", rpm);
-      transmit.printf("%d", irpm);
-      //  transmit.putc(0xA);
-        transmit.putc(0xD);
-    }
 }