Kaiwalya Belsare
Code
Dependencies: mbed QEI MPU6050 TextLCD
Revision 3:86145fd89b45, committed 2017-03-22
- Comitter:
- belsarekaiwalya
- Date:
- Wed Mar 22 06:42:53 2017 +0000
- Parent:
- 2:156f4732fbf1
- Child:
- 4:b084af72f9a6
- Commit message:
- Checked and tested with the corresponding pwm pins for left and right.; Includes front,back,left,right,clock and anticlock motion.Includes LCD, Bluetooth HC-05.;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Mar 14 15:34:06 2017 +0000
+++ b/main.cpp Wed Mar 22 06:42:53 2017 +0000
@@ -1,6 +1,8 @@
#include "mbed.h"
#include "TextLCD.h"
TextLCD lcd(PA_0,PA_1,PA_4,PB_0,PC_1,PC_0); // rs, e, d4-d7
+Serial serial(USBTX, USBRX);
+Serial bt(PC_6,PC_7);//tx,rx
DigitalOut dirRa(PB_3);
DigitalOut dirRb(PB_5);
DigitalOut dirLa(PB_4);
@@ -8,17 +10,34 @@
PwmOut pwmL(PA_8);//left
PwmOut pwmR(PA_9);//right
-Serial bt(PC_6,PC_7);//tx,rx
-PwmOut mypwm(LED1);
-DigitalOut myled(LED1);
-Serial serial(USBTX, USBRX);
+void InitSerial();
+void front(float xpwmL,float xpwmR);
+void back(float xpwm,float xpwmR);
+void left(float xpwm, float xpwmR);
+void right(float xpwm,float xpwmR);
+void clockWise(float xpwm,float xpwmR);
+void antiClock(float xpwm,float xpwmR);
+void Brake();
-int ch ;
-int main()
+int ch;
+
+void InitSerial()
{
bt.baud(9600);
serial.baud(9600);
- void brake();
+}
+void SetPwmf_kHz(float freq)
+{
+
+ pwmL.period_ms(freq);
+ pwmR.period_ms(freq);
+
+}
+int main()
+{
+ InitSerial();
+ SetPwmf_kHz(1);
+ Brake();
while(1)
{
if(bt.readable())
@@ -28,198 +47,135 @@
switch(ch)
{
case 'w'://Front
- void front();
- dirRa = 1;
- dirRb = 0;
- dirLa = 1;
- dirLb = 0;
- pwmL.period_ms(1);
- pwmL=0.5;
- pwmR.period_ms(1);
- pwmR=0.5;
-
- lcd.cls();
- serial.printf("Forward\n");
- lcd.locate(1,0);
- lcd.printf("Forward\n");
- break;
-
+ front(0.5,0.5);
+ serial.printf("Forward\n");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("Forward\n");
+ break;
+
case 'a'://Left
- dirRa = 1;
- dirRb = 0;
- dirLa = 0;
- dirLb = 0;
- pwmL.period_ms(1);
- pwmL=0;
- pwmR.period_ms(1);
- pwmR=0.5;
-
- lcd.cls();
- serial.printf("Left\n");
- lcd.locate(1,0);
- lcd.printf("Left\n");
- //void left();
- break;
-
+ left(0,0.5);
+ serial.printf("Left\n");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("Left\n");
+ break;
+
case 's'://Back
- dirRa = 0;
- dirRb = 1;
- dirLa = 0;
- dirLb = 1;
- pwmL.period_ms(1);
- pwmL=0.5;
- pwmR.period_ms(1);
- pwmR=0.5;
-
- lcd.cls();
- serial.printf("Back\n");
- lcd.locate(1,0);
- lcd.printf("Back\n");
- void back();
- break;
-
+ back(0.5,0.5);
+ serial.printf("Back\n");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("Back\n");
+ break;
+
case 'd'://Right
- dirRa = 0;
- dirRb = 0;
- dirLa = 1;
- dirLb = 0;
- pwmL.period_ms(1);
- pwmL=0.5f;
- pwmR.period_ms(1);
- pwmR=0;
-
- lcd.cls();
- serial.printf("Right\n");
- lcd.locate(1,0);
- lcd.printf("Right\n");
- void right();
- break;
-
+ right(0.5,0);
+ serial.printf("Right\n");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("Right\n");
+ break;
+
case 'O'://Stop
- dirRa = 1;
- dirRb = 0;
- dirLa = 1;
- dirLb = 0;
- pwmL.period_ms(1);
- pwmL=0;
- pwmR.period_ms(1);
- pwmR=0;
-
- lcd.cls();
- serial.printf("STOP\n");
- lcd.locate(1,0);
- lcd.printf("STOP\n");
- void Brake();
- break;
-
+ Brake();
+ serial.printf("STOP\n");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("STOP\n");
+ break;
+
case 'A'://Anticlock
- dirRa = 1;
- dirRb = 0;
- dirLa = 0;
- dirLb = 1;
- pwmL.period_ms(1);
- pwmL=0.5;
- pwmR.period_ms(1);
- pwmR=0.5;
-
- lcd.cls();
- serial.printf("AntiClock\n");
- lcd.locate(1,0);
- lcd.printf("AntiClock\n");
- break;
-
+ antiClock(0.5,0.5);
+ serial.printf("AntiClock\n");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("AntiClock\n");
+ break;
+
case 'C'://Clock
- dirRa = 0;
- dirRb = 1;
- dirLa = 1;
- dirLb = 0;
- pwmL.period_ms(1);
- pwmL=0.5f;
- pwmR.period_ms(1);
- pwmR=0.5f;
-
- lcd.cls();
- serial.printf("Clock\n");
- lcd.locate(1,0);
- lcd.printf("Clock\n");
- break;
-
-
-
-
+ clockWise(0.5,0.5);
+ serial.printf("Clock\n");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("Clock\n");
+ break;
default:
- serial.printf("Brake");
- lcd.cls();
- lcd.locate(1,0);
- lcd.printf("Brake");
- void brake();
-
- }
-
+ Brake();
+ serial.printf("Brake");
+ lcd.cls();
+ lcd.locate(1,0);
+ lcd.printf("Brake");
+ }
}
-
- //serial.printf("%c\n",ch);
}
}
-void front()
-{
+void front(float xpwmL,float xpwmR)
+{
+ dirLa = 1;
+ dirLb = 0;
+ pwmL= xpwmL;
dirRa = 1;
dirRb = 0;
+ pwmR= xpwmR;
+}
+void back(float xpwmL,float xpwmR)
+{
+ dirLa = 0;
+ dirLb = 1;
+ pwmL= xpwmL;
+
+ dirRa = 0;
+ dirRb = 1;
+ pwmR= xpwmR;
+}
+void left(float xpwmL,float xpwmR)
+{
+ dirLa = 0;
+ dirLb = 0;
+ pwmL= xpwmL;
+
+ dirRa = 1;
+ dirRb = 0;
+ pwmR= xpwmR;
+}
+void right(float xpwmL,float xpwmR)
+{
dirLa = 1;
dirLb = 0;
- pwmL.period_ms(1);
- pwmL=0.5;
- pwmR.period_ms(1);
- pwmR=0.5;
+ pwmL = xpwmL;
+ dirRa = 0;
+ dirRb = 0;
+ pwmR = xpwmR;
}
-void brake()
+void Brake()
{
dirRa = 0;
dirRb = 0;
dirLa = 0;
dirLb = 0;
- pwmL.period_ms(1);
pwmL=0.0;
- pwmR.period_ms(1);
pwmR=0.0;
-
}
-void back()
+void antiClock(float xpwmL,float xpwmR)
+{
+ dirRa = 1;
+ dirRb = 0;
+ dirLa = 0;
+ dirLb = 1;
+ pwmL = xpwmL;
+ pwmR = xpwmR;
+}
+void clockWise(float xpwmL,float xpwmR)
{
dirRa = 0;
dirRb = 1;
- dirLa = 0;
- dirLb = 1;
- pwmL.period_ms(1);
- pwmL=0.5;
- pwmR.period_ms(1);
- pwmR=0.5;
-
-}
-void left()
-{
- dirRa = 0;
- dirRb = 1;
- dirLa = 0;
+ dirLa = 1;
dirLb = 0;
- pwmL.period_ms(1);
- pwmL=0.5;
- pwmR.period_ms(1);
- pwmR=0.0;
-
-}
-void right()
-{
- dirRa = 0;
- dirRb = 0;
- dirLa = 0;
- dirLb = 1;
- pwmL.period_ms(1);
- pwmL=0.0f;
- pwmR.period_ms(1);
- pwmR=0.5f;
-
-}
+ pwmL = xpwmL;
+ pwmR = xpwmR;
+}
\ No newline at end of file