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Xbee robot with telemetry, robot code
Dependencies: 4DGL-uLCD-SE DebounceIn Motor mbed
Fork of LED_RTOS by
Revision 2:c7c1c5e42767, committed 2016-04-29
- Comitter:
- yhbyhb4433
- Date:
- Fri Apr 29 19:39:06 2016 +0000
- Parent:
- 1:5235d57bb8d3
- Commit message:
- Xbee robot with telemetry, robot code
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Apr 29 19:09:58 2016 +0000 +++ b/main.cpp Fri Apr 29 19:39:06 2016 +0000 @@ -6,100 +6,29 @@ #include "Motor.h" Motor B(p21,p22,p23);//wd, rev, can brake right motor Motor A(p26,p24,p25);//wm, fwd, rev, can brake left motir -//#include "DebounceIn.h" -Serial xbee1(p9, p10); - -//DigitalOut rst1(p11); -//InterruptIn forward(p16); -//InterruptIn left(p17); -//InterruptIn reverse(p18); -//InterruptIn right(p24); -//forward 16 -//left 17 -//reverse 18 -//right 19 Serial xbee2(p9, p10); DigitalOut rst2(p11); -//AnalogOut battery(p18); -//battery=2; - Serial pc(USBTX, USBRX); DigitalOut led1(LED1); DigitalOut led2(LED2); DigitalOut led3(LED3); -float s=0.8 ;//speed of forward and backward +DigitalOut led4(LED4); -DigitalOut led4(LED4); AnalogIn battery(p20); AnalogIn sensor(p18); - - -/*int a; -void forward_pushed (void) -{ - a = 11; - xbee1.putc(a); - pc.putc(a); -} -void left_pushed (void) -{ - a = 12; - xbee1.putc(a); - pc.putc(a); -} -void reverse_pushed (void) -{ - a = 13; - xbee1.putc(a); - pc.putc(a); -} -void right_pushed (void) -{ - a = 14; - xbee1.putc(a); - pc.printf("%i\n",a); -} +float s=0.8 ;//speed of forward and backward, set to 0.8 for a medium speed -/* int main() -{ - forward.mode(PullUp); - reverse.mode(PullUp); - left.mode(PullUp); - right.mode(PullUp); - - // reset the xbees (at least 200ns) -// rst1 = 0; - rst2 = 0; -// wait_ms(100); -// rst1 = 1; -// rst2 = 1; -// wait_ms(100); - - wait(.01); - // Attach the address of the interrupt handler routine for pushbutton -// forward.fall(&forward_pushed); -// left.fall(&left_pushed); -// reverse.fall(&reverse_pushed); -// right.fall(&right_pushed); -// wait(0.05); -// //xbee1.putc(pc.getc()); -*/ - -//led1=1; -//} int main() { - rst2 = 0; + rst2 = 0; //reset Xbee to initialize wait_ms(100); rst2 = 1; - while (1) { - float xx= (battery); - float sense=sensor; - + while (1) + { int b; b = xbee2.getc(); if (b==11) { //move forward @@ -120,24 +49,18 @@ B.speed(s+0.2); } else if (b==15) { - pc.printf("%i\n",int(float(232)*xx)); - xbee2.putc(int(float(232)*xx)); + xbee2.putc(int(float(232)*battery)); } else if (b==16) { - pc.printf("%i\n",int(float(232)*sense)); - xbee2.putc(int(float(232)*sense)); + xbee2.putc(int(float(232)*sensor)); } else if (b==0){ - + // stops the motor if no command A.speed(0); B.speed(0); - } wait(0.01); - led1=led2=led3=led4=0; - + led1=led2=led3=led4=0; //reset leds } - - //} } \ No newline at end of file