Test Ver
Dependencies: mbed FatFileSystem
main.cpp@0:269589d8d2c2, 2012-11-17 (annotated)
- Committer:
- jksoft
- Date:
- Sat Nov 17 13:22:00 2012 +0000
- Revision:
- 0:269589d8d2c2
Test Program
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jksoft | 0:269589d8d2c2 | 1 | /* |
jksoft | 0:269589d8d2c2 | 2 | Copyright (c) 2012 JKSOFT |
jksoft | 0:269589d8d2c2 | 3 | |
jksoft | 0:269589d8d2c2 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
jksoft | 0:269589d8d2c2 | 5 | of this software and associated documentation files (the "Software"), to deal |
jksoft | 0:269589d8d2c2 | 6 | in the Software without restriction, including without limitation the rights |
jksoft | 0:269589d8d2c2 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
jksoft | 0:269589d8d2c2 | 8 | copies of the Software, and to permit persons to whom the Software is |
jksoft | 0:269589d8d2c2 | 9 | furnished to do so, subject to the following conditions: |
jksoft | 0:269589d8d2c2 | 10 | |
jksoft | 0:269589d8d2c2 | 11 | The above copyright notice and this permission notice shall be included in |
jksoft | 0:269589d8d2c2 | 12 | all copies or substantial portions of the Software. |
jksoft | 0:269589d8d2c2 | 13 | |
jksoft | 0:269589d8d2c2 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
jksoft | 0:269589d8d2c2 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
jksoft | 0:269589d8d2c2 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
jksoft | 0:269589d8d2c2 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
jksoft | 0:269589d8d2c2 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
jksoft | 0:269589d8d2c2 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
jksoft | 0:269589d8d2c2 | 20 | THE SOFTWARE. |
jksoft | 0:269589d8d2c2 | 21 | */ |
jksoft | 0:269589d8d2c2 | 22 | |
jksoft | 0:269589d8d2c2 | 23 | #include "mbed.h" |
jksoft | 0:269589d8d2c2 | 24 | #include "USBHost.h" |
jksoft | 0:269589d8d2c2 | 25 | #include "Utils.h" |
jksoft | 0:269589d8d2c2 | 26 | #include "Wiimote.h" |
jksoft | 0:269589d8d2c2 | 27 | #include "HighSpeedAnalogIn.h" |
jksoft | 0:269589d8d2c2 | 28 | #include "EthernetPowerControl.h" |
jksoft | 0:269589d8d2c2 | 29 | #include "TB6612.h" |
jksoft | 0:269589d8d2c2 | 30 | |
jksoft | 0:269589d8d2c2 | 31 | #if 0 |
jksoft | 0:269589d8d2c2 | 32 | #define DBG(x) x |
jksoft | 0:269589d8d2c2 | 33 | #else |
jksoft | 0:269589d8d2c2 | 34 | #define DBG(x) |
jksoft | 0:269589d8d2c2 | 35 | #endif |
jksoft | 0:269589d8d2c2 | 36 | |
jksoft | 0:269589d8d2c2 | 37 | // PID terms |
jksoft | 0:269589d8d2c2 | 38 | #define P_TERM 1 |
jksoft | 0:269589d8d2c2 | 39 | #define I_TERM 0 |
jksoft | 0:269589d8d2c2 | 40 | #define D_TERM 20 |
jksoft | 0:269589d8d2c2 | 41 | |
jksoft | 0:269589d8d2c2 | 42 | #define MAX 1.0 |
jksoft | 0:269589d8d2c2 | 43 | #define MIN -1.0 |
jksoft | 0:269589d8d2c2 | 44 | |
jksoft | 0:269589d8d2c2 | 45 | #define MAX_SPEED 100 |
jksoft | 0:269589d8d2c2 | 46 | |
jksoft | 0:269589d8d2c2 | 47 | Serial pc(USBTX, USBRX); |
jksoft | 0:269589d8d2c2 | 48 | BusOut myleds(LED1, LED2, LED3, LED4); |
jksoft | 0:269589d8d2c2 | 49 | BusOut myleds2(p7,p8,p9,p10); |
jksoft | 0:269589d8d2c2 | 50 | |
jksoft | 0:269589d8d2c2 | 51 | // ----- Wallbot I/O Setting ----- |
jksoft | 0:269589d8d2c2 | 52 | // Motor |
jksoft | 0:269589d8d2c2 | 53 | TB6612 right(p21,p12,p11); |
jksoft | 0:269589d8d2c2 | 54 | TB6612 left(p22,p14,p13); |
jksoft | 0:269589d8d2c2 | 55 | |
jksoft | 0:269589d8d2c2 | 56 | HighSpeedAnalogIn ain(p15, p16, p17, p18, p19, p20); |
jksoft | 0:269589d8d2c2 | 57 | |
jksoft | 0:269589d8d2c2 | 58 | Ticker flipper; |
jksoft | 0:269589d8d2c2 | 59 | int com_time_out = 0; |
jksoft | 0:269589d8d2c2 | 60 | int com_stat = 0; |
jksoft | 0:269589d8d2c2 | 61 | int move_time = 0; |
jksoft | 0:269589d8d2c2 | 62 | int lmp = 0,kind = 0; |
jksoft | 0:269589d8d2c2 | 63 | |
jksoft | 0:269589d8d2c2 | 64 | extern "C" void mbed_reset(); |
jksoft | 0:269589d8d2c2 | 65 | |
jksoft | 0:269589d8d2c2 | 66 | // p20 p19 p18 p17 |
jksoft | 0:269589d8d2c2 | 67 | // LEFT o o o o RIGHT |
jksoft | 0:269589d8d2c2 | 68 | float GetSensor(int sh) |
jksoft | 0:269589d8d2c2 | 69 | { |
jksoft | 0:269589d8d2c2 | 70 | float ret = 0.0; |
jksoft | 0:269589d8d2c2 | 71 | int bit = 0; |
jksoft | 0:269589d8d2c2 | 72 | int value[4]; |
jksoft | 0:269589d8d2c2 | 73 | |
jksoft | 0:269589d8d2c2 | 74 | value[0] = ain.read_u16(p17); |
jksoft | 0:269589d8d2c2 | 75 | value[1] = ain.read_u16(p18); |
jksoft | 0:269589d8d2c2 | 76 | value[2] = ain.read_u16(p19); |
jksoft | 0:269589d8d2c2 | 77 | value[3] = ain.read_u16(p20); |
jksoft | 0:269589d8d2c2 | 78 | |
jksoft | 0:269589d8d2c2 | 79 | if( value[0] > sh ) bit |= 0x01; |
jksoft | 0:269589d8d2c2 | 80 | if( value[1] > sh ) bit |= 0x02; |
jksoft | 0:269589d8d2c2 | 81 | if( value[2] > sh ) bit |= 0x04; |
jksoft | 0:269589d8d2c2 | 82 | if( value[3] > sh ) bit |= 0x08; |
jksoft | 0:269589d8d2c2 | 83 | |
jksoft | 0:269589d8d2c2 | 84 | myleds = bit; |
jksoft | 0:269589d8d2c2 | 85 | |
jksoft | 0:269589d8d2c2 | 86 | switch(bit) |
jksoft | 0:269589d8d2c2 | 87 | { |
jksoft | 0:269589d8d2c2 | 88 | case 0x01: ret = 1.0; break; |
jksoft | 0:269589d8d2c2 | 89 | case 0x03: ret = 0.66; break; |
jksoft | 0:269589d8d2c2 | 90 | case 0x02: ret = 0.33; break; |
jksoft | 0:269589d8d2c2 | 91 | case 0x04: ret = -0.33; break; |
jksoft | 0:269589d8d2c2 | 92 | case 0x0C: ret = -0.66; break; |
jksoft | 0:269589d8d2c2 | 93 | case 0x08: ret = -1.0; break; |
jksoft | 0:269589d8d2c2 | 94 | default: ret = 0.0; break; |
jksoft | 0:269589d8d2c2 | 95 | } |
jksoft | 0:269589d8d2c2 | 96 | |
jksoft | 0:269589d8d2c2 | 97 | // DBG(printf("[SENSOR] %d\t %d\t %d\t %d\t [%02X] : %f\n",value[0],value[1],value[2],value[3],bit,ret);) |
jksoft | 0:269589d8d2c2 | 98 | |
jksoft | 0:269589d8d2c2 | 99 | return(ret); |
jksoft | 0:269589d8d2c2 | 100 | } |
jksoft | 0:269589d8d2c2 | 101 | |
jksoft | 0:269589d8d2c2 | 102 | float GetSensor(int sh, int *stat) |
jksoft | 0:269589d8d2c2 | 103 | { |
jksoft | 0:269589d8d2c2 | 104 | float ret = 0.0; |
jksoft | 0:269589d8d2c2 | 105 | int bit = 0; |
jksoft | 0:269589d8d2c2 | 106 | int value[4]; |
jksoft | 0:269589d8d2c2 | 107 | |
jksoft | 0:269589d8d2c2 | 108 | value[0] = ain.read_u16(p17); |
jksoft | 0:269589d8d2c2 | 109 | value[1] = ain.read_u16(p18); |
jksoft | 0:269589d8d2c2 | 110 | value[2] = ain.read_u16(p19); |
jksoft | 0:269589d8d2c2 | 111 | value[3] = ain.read_u16(p20); |
jksoft | 0:269589d8d2c2 | 112 | |
jksoft | 0:269589d8d2c2 | 113 | if( value[0] > sh ) bit |= 0x01; |
jksoft | 0:269589d8d2c2 | 114 | if( value[1] > sh ) bit |= 0x02; |
jksoft | 0:269589d8d2c2 | 115 | if( value[2] > sh ) bit |= 0x04; |
jksoft | 0:269589d8d2c2 | 116 | if( value[3] > sh ) bit |= 0x08; |
jksoft | 0:269589d8d2c2 | 117 | |
jksoft | 0:269589d8d2c2 | 118 | myleds = bit; |
jksoft | 0:269589d8d2c2 | 119 | *stat = bit; |
jksoft | 0:269589d8d2c2 | 120 | |
jksoft | 0:269589d8d2c2 | 121 | switch(bit) |
jksoft | 0:269589d8d2c2 | 122 | { |
jksoft | 0:269589d8d2c2 | 123 | case 0x01: ret = 1.0; break; |
jksoft | 0:269589d8d2c2 | 124 | case 0x03: ret = 0.66; break; |
jksoft | 0:269589d8d2c2 | 125 | case 0x02: ret = 0.33; break; |
jksoft | 0:269589d8d2c2 | 126 | case 0x04: ret = -0.33; break; |
jksoft | 0:269589d8d2c2 | 127 | case 0x0C: ret = -0.66; break; |
jksoft | 0:269589d8d2c2 | 128 | case 0x08: ret = -1.0; break; |
jksoft | 0:269589d8d2c2 | 129 | default: ret = 0.0; break; |
jksoft | 0:269589d8d2c2 | 130 | } |
jksoft | 0:269589d8d2c2 | 131 | |
jksoft | 0:269589d8d2c2 | 132 | // DBG(printf("[SENSOR] %d\t %d\t %d\t %d\t [%02X] : %f\n",value[0],value[1],value[2],value[3],bit,ret);) |
jksoft | 0:269589d8d2c2 | 133 | |
jksoft | 0:269589d8d2c2 | 134 | return(ret); |
jksoft | 0:269589d8d2c2 | 135 | } |
jksoft | 0:269589d8d2c2 | 136 | |
jksoft | 0:269589d8d2c2 | 137 | void flip() { |
jksoft | 0:269589d8d2c2 | 138 | com_time_out++; |
jksoft | 0:269589d8d2c2 | 139 | static int led_count = 0; |
jksoft | 0:269589d8d2c2 | 140 | |
jksoft | 0:269589d8d2c2 | 141 | if(com_stat == 1) |
jksoft | 0:269589d8d2c2 | 142 | { |
jksoft | 0:269589d8d2c2 | 143 | if(com_time_out > 2) |
jksoft | 0:269589d8d2c2 | 144 | { |
jksoft | 0:269589d8d2c2 | 145 | right = 0.0; |
jksoft | 0:269589d8d2c2 | 146 | left = 0.0; |
jksoft | 0:269589d8d2c2 | 147 | mbed_reset(); |
jksoft | 0:269589d8d2c2 | 148 | } |
jksoft | 0:269589d8d2c2 | 149 | } |
jksoft | 0:269589d8d2c2 | 150 | else |
jksoft | 0:269589d8d2c2 | 151 | { |
jksoft | 0:269589d8d2c2 | 152 | myleds = !myleds; |
jksoft | 0:269589d8d2c2 | 153 | } |
jksoft | 0:269589d8d2c2 | 154 | if(com_time_out > 150) |
jksoft | 0:269589d8d2c2 | 155 | { |
jksoft | 0:269589d8d2c2 | 156 | right = 0.0; |
jksoft | 0:269589d8d2c2 | 157 | left = 0.0; |
jksoft | 0:269589d8d2c2 | 158 | mbed_reset(); |
jksoft | 0:269589d8d2c2 | 159 | } |
jksoft | 0:269589d8d2c2 | 160 | if(move_time != 0) |
jksoft | 0:269589d8d2c2 | 161 | { |
jksoft | 0:269589d8d2c2 | 162 | move_time--; |
jksoft | 0:269589d8d2c2 | 163 | } |
jksoft | 0:269589d8d2c2 | 164 | |
jksoft | 0:269589d8d2c2 | 165 | switch(led_count) |
jksoft | 0:269589d8d2c2 | 166 | { |
jksoft | 0:269589d8d2c2 | 167 | case 0: |
jksoft | 0:269589d8d2c2 | 168 | myleds2 = 1; |
jksoft | 0:269589d8d2c2 | 169 | led_count++; |
jksoft | 0:269589d8d2c2 | 170 | break; |
jksoft | 0:269589d8d2c2 | 171 | case 1: |
jksoft | 0:269589d8d2c2 | 172 | myleds2 = 2; |
jksoft | 0:269589d8d2c2 | 173 | led_count++; |
jksoft | 0:269589d8d2c2 | 174 | break; |
jksoft | 0:269589d8d2c2 | 175 | case 2: |
jksoft | 0:269589d8d2c2 | 176 | myleds2 = 4; |
jksoft | 0:269589d8d2c2 | 177 | led_count++; |
jksoft | 0:269589d8d2c2 | 178 | break; |
jksoft | 0:269589d8d2c2 | 179 | case 3: |
jksoft | 0:269589d8d2c2 | 180 | myleds2 = 8; |
jksoft | 0:269589d8d2c2 | 181 | led_count++; |
jksoft | 0:269589d8d2c2 | 182 | break; |
jksoft | 0:269589d8d2c2 | 183 | case 4: |
jksoft | 0:269589d8d2c2 | 184 | myleds2 = 4; |
jksoft | 0:269589d8d2c2 | 185 | led_count++; |
jksoft | 0:269589d8d2c2 | 186 | break; |
jksoft | 0:269589d8d2c2 | 187 | case 5: |
jksoft | 0:269589d8d2c2 | 188 | myleds2 = 2; |
jksoft | 0:269589d8d2c2 | 189 | led_count=0; |
jksoft | 0:269589d8d2c2 | 190 | break; |
jksoft | 0:269589d8d2c2 | 191 | } |
jksoft | 0:269589d8d2c2 | 192 | |
jksoft | 0:269589d8d2c2 | 193 | } |
jksoft | 0:269589d8d2c2 | 194 | |
jksoft | 0:269589d8d2c2 | 195 | int LineFollowMode() |
jksoft | 0:269589d8d2c2 | 196 | { |
jksoft | 0:269589d8d2c2 | 197 | float line_pos; |
jksoft | 0:269589d8d2c2 | 198 | float derivative,proportional,power; |
jksoft | 0:269589d8d2c2 | 199 | float speed =0.7; |
jksoft | 0:269589d8d2c2 | 200 | |
jksoft | 0:269589d8d2c2 | 201 | float right_v; |
jksoft | 0:269589d8d2c2 | 202 | float left_v; |
jksoft | 0:269589d8d2c2 | 203 | |
jksoft | 0:269589d8d2c2 | 204 | static float old_line_pos = 0.0; |
jksoft | 0:269589d8d2c2 | 205 | static float integral = 0.0; |
jksoft | 0:269589d8d2c2 | 206 | |
jksoft | 0:269589d8d2c2 | 207 | |
jksoft | 0:269589d8d2c2 | 208 | line_pos = GetSensor(2500); |
jksoft | 0:269589d8d2c2 | 209 | |
jksoft | 0:269589d8d2c2 | 210 | proportional = line_pos; |
jksoft | 0:269589d8d2c2 | 211 | integral += line_pos; |
jksoft | 0:269589d8d2c2 | 212 | derivative = line_pos - old_line_pos; |
jksoft | 0:269589d8d2c2 | 213 | old_line_pos = line_pos; |
jksoft | 0:269589d8d2c2 | 214 | |
jksoft | 0:269589d8d2c2 | 215 | power = (proportional * (P_TERM) ) + (integral*(I_TERM)) + (derivative*(D_TERM)) ; |
jksoft | 0:269589d8d2c2 | 216 | |
jksoft | 0:269589d8d2c2 | 217 | right_v = speed-power; |
jksoft | 0:269589d8d2c2 | 218 | left_v = speed+power; |
jksoft | 0:269589d8d2c2 | 219 | |
jksoft | 0:269589d8d2c2 | 220 | // limit checks |
jksoft | 0:269589d8d2c2 | 221 | if (right_v < MIN) |
jksoft | 0:269589d8d2c2 | 222 | right_v = MIN; |
jksoft | 0:269589d8d2c2 | 223 | else if (right_v > MAX) |
jksoft | 0:269589d8d2c2 | 224 | right_v = MAX; |
jksoft | 0:269589d8d2c2 | 225 | |
jksoft | 0:269589d8d2c2 | 226 | if (left_v < MIN) |
jksoft | 0:269589d8d2c2 | 227 | left_v = MIN; |
jksoft | 0:269589d8d2c2 | 228 | else if (left_v > MAX) |
jksoft | 0:269589d8d2c2 | 229 | left_v = MAX; |
jksoft | 0:269589d8d2c2 | 230 | |
jksoft | 0:269589d8d2c2 | 231 | left = left_v; |
jksoft | 0:269589d8d2c2 | 232 | right = right_v; |
jksoft | 0:269589d8d2c2 | 233 | |
jksoft | 0:269589d8d2c2 | 234 | return(0); |
jksoft | 0:269589d8d2c2 | 235 | } |
jksoft | 0:269589d8d2c2 | 236 | |
jksoft | 0:269589d8d2c2 | 237 | // Direct control mode |
jksoft | 0:269589d8d2c2 | 238 | int DirectMode( Wiimote* wii, int stat ) |
jksoft | 0:269589d8d2c2 | 239 | { |
jksoft | 0:269589d8d2c2 | 240 | float line_pos; |
jksoft | 0:269589d8d2c2 | 241 | int ret = stat; |
jksoft | 0:269589d8d2c2 | 242 | |
jksoft | 0:269589d8d2c2 | 243 | if( move_time == 0 ) |
jksoft | 0:269589d8d2c2 | 244 | { |
jksoft | 0:269589d8d2c2 | 245 | if( wii->left ) |
jksoft | 0:269589d8d2c2 | 246 | { |
jksoft | 0:269589d8d2c2 | 247 | right = -MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 248 | left = MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 249 | } |
jksoft | 0:269589d8d2c2 | 250 | else if( wii->right ) |
jksoft | 0:269589d8d2c2 | 251 | { |
jksoft | 0:269589d8d2c2 | 252 | right = MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 253 | left = -MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 254 | } |
jksoft | 0:269589d8d2c2 | 255 | else if( wii->up ) |
jksoft | 0:269589d8d2c2 | 256 | { |
jksoft | 0:269589d8d2c2 | 257 | right = MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 258 | left = MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 259 | } |
jksoft | 0:269589d8d2c2 | 260 | else if( wii->down ) |
jksoft | 0:269589d8d2c2 | 261 | { |
jksoft | 0:269589d8d2c2 | 262 | right = -MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 263 | left = -MAX_SPEED; |
jksoft | 0:269589d8d2c2 | 264 | } |
jksoft | 0:269589d8d2c2 | 265 | else |
jksoft | 0:269589d8d2c2 | 266 | { |
jksoft | 0:269589d8d2c2 | 267 | right = 0; |
jksoft | 0:269589d8d2c2 | 268 | left = 0; |
jksoft | 0:269589d8d2c2 | 269 | } |
jksoft | 0:269589d8d2c2 | 270 | |
jksoft | 0:269589d8d2c2 | 271 | float factor = wii->wheel * 1.5f; |
jksoft | 0:269589d8d2c2 | 272 | |
jksoft | 0:269589d8d2c2 | 273 | if(factor > 100.0f ) factor = 100.0f; |
jksoft | 0:269589d8d2c2 | 274 | if(factor < -100.0f ) factor = -100.0f; |
jksoft | 0:269589d8d2c2 | 275 | |
jksoft | 0:269589d8d2c2 | 276 | printf("%f\t%f\r\n",wii->wheel,factor); |
jksoft | 0:269589d8d2c2 | 277 | |
jksoft | 0:269589d8d2c2 | 278 | int left_factor = (int)((factor <= 0.0) ? 100.0 : 100.0 - factor); |
jksoft | 0:269589d8d2c2 | 279 | int right_factor = (int)((factor >= 0.0) ? 100.0 : 100.0 - (-factor)); |
jksoft | 0:269589d8d2c2 | 280 | |
jksoft | 0:269589d8d2c2 | 281 | if( wii->one ) |
jksoft | 0:269589d8d2c2 | 282 | { |
jksoft | 0:269589d8d2c2 | 283 | right = right_factor; |
jksoft | 0:269589d8d2c2 | 284 | left = left_factor; |
jksoft | 0:269589d8d2c2 | 285 | } |
jksoft | 0:269589d8d2c2 | 286 | if( wii->two ) |
jksoft | 0:269589d8d2c2 | 287 | { |
jksoft | 0:269589d8d2c2 | 288 | right = -left_factor; |
jksoft | 0:269589d8d2c2 | 289 | left = -right_factor; |
jksoft | 0:269589d8d2c2 | 290 | } |
jksoft | 0:269589d8d2c2 | 291 | |
jksoft | 0:269589d8d2c2 | 292 | } |
jksoft | 0:269589d8d2c2 | 293 | |
jksoft | 0:269589d8d2c2 | 294 | return(ret); |
jksoft | 0:269589d8d2c2 | 295 | } |
jksoft | 0:269589d8d2c2 | 296 | |
jksoft | 0:269589d8d2c2 | 297 | // Processing when receiving it from Wiiremote |
jksoft | 0:269589d8d2c2 | 298 | int wall_bot_remote(char *c,int stat) |
jksoft | 0:269589d8d2c2 | 299 | { |
jksoft | 0:269589d8d2c2 | 300 | Wiimote wii; |
jksoft | 0:269589d8d2c2 | 301 | int ret = stat; |
jksoft | 0:269589d8d2c2 | 302 | |
jksoft | 0:269589d8d2c2 | 303 | wii.decode(c); |
jksoft | 0:269589d8d2c2 | 304 | |
jksoft | 0:269589d8d2c2 | 305 | ret = DirectMode( &wii ,ret ); |
jksoft | 0:269589d8d2c2 | 306 | |
jksoft | 0:269589d8d2c2 | 307 | return(ret); |
jksoft | 0:269589d8d2c2 | 308 | } |
jksoft | 0:269589d8d2c2 | 309 | |
jksoft | 0:269589d8d2c2 | 310 | int GetConsoleChar() |
jksoft | 0:269589d8d2c2 | 311 | { |
jksoft | 0:269589d8d2c2 | 312 | return(0); |
jksoft | 0:269589d8d2c2 | 313 | } |
jksoft | 0:269589d8d2c2 | 314 | |
jksoft | 0:269589d8d2c2 | 315 | int OnDiskInsert(int device) |
jksoft | 0:269589d8d2c2 | 316 | { |
jksoft | 0:269589d8d2c2 | 317 | return(0); |
jksoft | 0:269589d8d2c2 | 318 | } |
jksoft | 0:269589d8d2c2 | 319 | |
jksoft | 0:269589d8d2c2 | 320 | int main() |
jksoft | 0:269589d8d2c2 | 321 | { |
jksoft | 0:269589d8d2c2 | 322 | |
jksoft | 0:269589d8d2c2 | 323 | PHY_PowerDown(); |
jksoft | 0:269589d8d2c2 | 324 | pc.baud(460800); |
jksoft | 0:269589d8d2c2 | 325 | // pc.baud(9600); |
jksoft | 0:269589d8d2c2 | 326 | right = 0.0; |
jksoft | 0:269589d8d2c2 | 327 | left = 0.0; |
jksoft | 0:269589d8d2c2 | 328 | flipper.attach(&flip, 0.2); |
jksoft | 0:269589d8d2c2 | 329 | |
jksoft | 0:269589d8d2c2 | 330 | // USB Init is done for Bluetooth |
jksoft | 0:269589d8d2c2 | 331 | USBInit(); |
jksoft | 0:269589d8d2c2 | 332 | |
jksoft | 0:269589d8d2c2 | 333 | while(1) |
jksoft | 0:269589d8d2c2 | 334 | { |
jksoft | 0:269589d8d2c2 | 335 | // USB Processing is done for Bluetooth |
jksoft | 0:269589d8d2c2 | 336 | USBLoop(); |
jksoft | 0:269589d8d2c2 | 337 | |
jksoft | 0:269589d8d2c2 | 338 | } |
jksoft | 0:269589d8d2c2 | 339 | } |