Diff: main.cpp

Revision:

0:3ec2ed675b62

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Mar 14 15:51:43 2017 +0000
@@ -0,0 +1,147 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "ultrasonic.h"
+#include "SongPlayer.h"
+int x=1;
+
+
+void dist(int distance)
+{
+    if (distance<100){
+        x=0;
+        }
+    //put code here to execute when the distance has changed
+    printf("Distance %d mm\r\n", distance);
+
+}
+
+
+ultrasonic mu(p9, p10, .1, 1, &dist);  
+//BusOut myled(LED1,LED2,LED3,LED4);
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+Serial blue(p28,p27);
+AnalogIn ain(A0); //p15
+SongPlayer mySpeaker(p26);
+Motor A(p23, p6, p5, 1); // pwm, fwd, rev, can brake 
+Motor B(p21, p7, p8, 1); // pwm, fwd, rev, can brake
+
+float note[18]= {1568.0,1396.9,1244.5,1244.5,1396.9,1568.0,1568.0,1568.0,1396.9,
+                 1244.5,1396.9,1568.0,1396.9,1244.5,1174.7,1244.5,1244.5, 0.0
+                };
+float duration[18]= {0.48,0.24,0.72,0.48,0.24,0.48,0.24,0.24,0.24,
+                     0.24,0.24,0.24,0.24,0.48,0.24,0.48,0.48, 0.0
+                    };
+
+int main()
+{
+
+    mu.startUpdates();//start measuring the distance
+    char bnum=0;
+    char bhit=0;
+    
+    while(x==1){
+        mu.checkDistance(); 
+        
+        led1 = (ain > 0.15f) ? 1 : 0;
+        led2 = (ain > 0.30f) ? 1 : 0;
+        led3 = (ain > 0.45f) ? 1 : 0;
+        led4 = (ain > 0.7f) ? 1 : 0;
+        A.speed(0.4); 
+        B.speed(0.4);
+
+        
+        
+
+       // printf("Distance %d mm\r\n", distance);
+        
+    }
+        mySpeaker.PlaySong(note,duration);
+    // loops forever while song continues to play to end using interrupts
+        A.speed(0); 
+        B.speed(0);
+    while(1){
+            if (blue.getc()=='!') {
+                if (blue.getc()=='B') { //button data packet
+                    bnum = blue.getc(); //button number
+                    bhit = blue.getc(); //1=hit, 0=release
+                    if (blue.getc()==char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
+                       // myled = bnum - '0'; //current button number will appear on LEDs
+                        switch (bnum) {
+                            case '1': //number button 1
+                                if (bhit=='1') {
+                                    A.speed(0); 
+                                    B.speed(0);
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            case '2': //number button 2
+                                if (bhit=='1') {
+                                    //add hit code here
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            case '3': //number button 3
+                                if (bhit=='1') {
+                                    //add hit code here
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            case '4': //number button 4
+                                if (bhit=='1') {
+                                    //add hit code here
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            case '5': //button 5 up arrow
+                                if (bhit=='1') {
+                                    A.speed(1); 
+                                    B.speed(1);
+                                    wait(0.02);
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            case '6': //button 6 down arrow
+                                if (bhit=='1') {
+                                    A.speed(-1); 
+                                    B.speed(-1);
+                                    wait(0.02);
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            case '7': //button 7 left arrow
+                                if (bhit=='1') {
+                                    A.speed(-1); 
+                                    B.speed(1);
+                                    wait(0.02);
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            case '8': //button 8 right arrow
+                                if (bhit=='1') {
+                                    A.speed(1); 
+                                    B.speed(-1);
+                                    wait(0.02);
+                                } else {
+                                    //add release code here
+                                }
+                                break;
+                            default:
+                                A.speed(0.3); 
+                                B.speed(0.3);
+                                break;
+                        }
+                    }
+                }
+           }
+     }
+}
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