Diff: main.cpp

Revision:

7:cbccf5c5da6d

Parent:

6:a51f4ac6f42b

Child:

8:198568d5746b

--- a/main.cpp	Sun Apr 24 21:08:30 2016 +0000
+++ b/main.cpp	Thu Apr 28 05:20:35 2016 +0000
@@ -10,12 +10,22 @@
 AnalogIn infraredF(p17); //Front infrared distance sensor
 Serial pc(USBTX, USBRX);
 Timer t;
+char str[40];
     
 float leftDist, rightDist, frontDist; //Distances from robot to obstacles
 float xaccel, yaccel, zaccel;   //Acceleration in the x, y, and z directions
 float xmag, ymag, zmag, head;         //Magnetic readings
 int ldist, rdist, fdist;
 
+//dual H bridge Polulu
+PwmOut PWMA(p21);           //connect p21 to PWMA
+PwmOut PWMB(p22);           //connect p22 to PWMB
+DigitalOut Ain1(p23);       //connect p23 to Ain1   
+DigitalOut Ain2(p24);       //connect p24 to Ain2
+
+
+
+
 void printAttitude(float ax, float ay, float az, float mx, float my, float mz)
 {
     float roll = atan2(ay, az);
@@ -100,14 +110,25 @@
         }
 }    
 
+void send_thread(void const *args) {
+    while (1) {
+        sprintf (str, "%0.6f,%0.6f,%0.6f,%d,%d,%d,%d\n", xaccel, zaccel, ymag, fdist, ldist, rdist, t.read_us());   //buffer data to be sent to computer
+        Thread::wait(500);
+    }
+}        
+
+
 int main() {
     //Test
-    t.begin();
+    t.start();
     Thread left(left_thread);
     Thread right(right_thread);
     Thread front(front_thread);
     Thread IMU(IMU_thread);
+    Thread send(send_thread);
+    Ain1=Ain2=1;                //enabling PWM
     while(1) {
-        
+        PWMA.write(0.5f);       //writing 50% duty cycle
+        PWMB.write(0.5f);       //to pwm A and B
     }
 }