mbed

Revision 0:342fcbecbfbf, committed 02 Apr 2012

Comitter:

Kunal Mahajan

Date:

Mon Apr 02 01:56:01 2012 +0000

Commit message:

Changed in this revision

main.cpp	Show annotated file Show diff for this revision Revisions of this file
mbed.bld	Show annotated file Show diff for this revision Revisions of this file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 02 01:56:01 2012 +0000
@@ -0,0 +1,71 @@
+#include "mbed.h"
+
+Serial device(p9, p10);  // tx, rx
+
+//         Create Command          
+const char Start = 128;
+const char FullMode = 132;
+const char DriveDirect = 145;          // 4:   [Right Hi] [Right Low] [Left Hi] [Left Low]
+
+int speed_left = 400;
+int speed_right = 400;
+void forward();
+void start();
+void stop();
+void reverse();
+void left();
+void right();
+
+// try to move the Irobot create using basic commands
+int main(){
+    while(1){
+        wait(5);              // wait for Create to power up to accept serial commands
+        device.baud(57600);   // set baud rate for Create factory default
+        start();
+        wait(.5);
+        // Move around with motor commands
+        forward();
+        wait(3);
+        stop();
+        wait(.1);
+        reverse();
+        wait(3);
+        left();
+        wait(3);
+        stop();
+        wait(.1);
+        right();
+        wait(3);
+        stop();
+        wait(.5);
+    }
+}
+
+void start(){
+    device.putc(Start);
+    device.putc(FullMode);
+    wait(.5);
+}
+
+void forward(){
+    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right >> 8) & 0xFF), char(speed_right & 0xFF), char((speed_left >> 8) & 0xFF), char(speed_left & 0xFF)); 
+}
+
+void stop(){
+    device.printf("%c%c%c%c%c", DriveDirect, char(0),  char(0),  char(0),  char(0));
+}
+
+// Reverse - reverse drive motors
+void reverse() {
+    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF), char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
+}
+
+// Left - drive motors set to rotate to left
+void left() {
+    device.printf("%c%c%c%c%c", DriveDirect, char((speed_right>>8)&0xFF),  char(speed_right&0xFF), char(((-speed_left)>>8)&0xFF),  char((-speed_left)&0xFF));
+}
+
+// Right - drive motors set to rotate to right
+void right() {
+    device.printf("%c%c%c%c%c", DriveDirect, char(((-speed_right)>>8)&0xFF),  char((-speed_right)&0xFF), char((speed_left>>8)&0xFF),  char(speed_left&0xFF));
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Apr 02 01:56:01 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/737756e0b479