Diff: main.cpp

Revision:

7:4340355261f9

Parent:

6:995b3679155f

Child:

10:1f0cf0182067

--- a/main.cpp	Fri Apr 05 15:45:00 2013 +0000
+++ b/main.cpp	Fri Apr 05 16:37:36 2013 +0000
@@ -67,8 +67,6 @@
 #include "Actuators/MainMotors/MainMotor.h"
 #include "Sensors/Encoders/Encoder.h"
 #include "Sensors/Colour/Colour.h"
-#include "Sensors/Colour/Led.h"
-#include "Sensors/Colour/Phototransistor.h"
 
 
 
@@ -91,19 +89,19 @@
  *****************/
     //motortest();
     //encodertest();
-    motorencodetest();
+    //motorencodetest();
     //motorencodetestline();
     //motorsandservostest();
     //armtest();
     //motortestline();
-    //ledtest();
+    ledtest();
     //phototransistortest();
     //ledphototransistortest();
     //colourtest(); // Red SnR too low
 }
 
 void colourtest(){
-    Colour c(p9,p10,p20);
+    Colour c(P_COLOR_SENSOR_BLUE, P_COLOR_SENSOR_RED, P_COLOR_SENSOR_IN);
     c.Calibrate();
     while(true){
         wait(0.1);
@@ -130,17 +128,17 @@
 
 
 void ledphototransistortest(){
-    Led blue(p9), red(p10);
-    Phototransistor pt(p20); 
+    DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
+    AnalogIn pt(P_COLOR_SENSOR_IN); 
     Serial pc(USBTX, USBRX);
 
     while(true){
-        blue.on();red.off();
+        blue = 1; red = 0;
         for(int i = 0; i != 5; i++){
             wait(0.1);
             pc.printf("Phototransistor Analog is (blue): %f \n\r", pt.read());
         }
-        blue.off();red.on();
+        blue = 0; red = 1;
         for(int i = 0; i != 5; i++){
             wait(0.1);
             pc.printf("Phototransistor Analog is (red ): %f \n\r", pt.read());
@@ -149,7 +147,7 @@
 }
 
 void phototransistortest(){
-    Phototransistor pt(p20); 
+    AnalogIn pt(P_COLOR_SENSOR_IN); 
     while(true){
         wait(0.1);
         pc.printf("Phototransistor Analog is: %f \n\r", pt.read());
@@ -158,11 +156,11 @@
 }
 
 void ledtest(){
-    Led blue(p9), red(p10);
+    DigitalOut blue(P_COLOR_SENSOR_BLUE), red(P_COLOR_SENSOR_RED);
     while(true){
-        blue.on();red.off();
+        blue = 1; red = 0;
         wait(0.2);
-        blue.off();red.on();
+        blue = 0; red = 1;
         wait(0.2);
     
     }
@@ -249,8 +247,8 @@
 }
 
 void motorencodetest(){
-    Encoder Eright(ENC_RIGHT_A, ENC_RIGHT_B), Eleft(ENC_LEFT_A, ENC_LEFT_B);
-    MainMotor mright(MOT_RIGHT_A, MOT_RIGHT_B), mleft(MOT_LEFT_A, MOT_LEFT_B);
+    Encoder Eright(P_ENC_RIGHT_A, P_ENC_RIGHT_B), Eleft(P_ENC_LEFT_A, P_ENC_LEFT_B);
+    MainMotor mright(P_MOT_RIGHT_A, P_MOT_RIGHT_B), mleft(P_MOT_LEFT_A, P_MOT_LEFT_B);
     Serial pc(USBTX, USBRX);
     
     const float speed = -0.3;