Revision 0:b59cb9ef5b5b, committed 2013-04-13

Comitter:

lfsantarelli

Date:

Sat Apr 13 01:00:26 2013 +0000

Child:

1:b11f1623539d

Commit message:

.

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Config.h	Sat Apr 13 01:00:26 2013 +0000
@@ -0,0 +1,51 @@
+//Pino de Entrada do Switch
+#define pswitch p24
+
+//Pinos das saidas analogicas para SaberTooth
+#define psaber1 p26
+#define psaber2 p25
+
+//Pinos dos sensores de linha
+#define plFL p29
+#define plFR p30
+#define plRL p28
+#define plRR p27
+
+//Pinos dos sensores de distancia
+#define pd1 p20
+#define pd2 p19
+#define pd3 p18
+#define pd4 p17
+#define pd5 p16
+
+//Comunicacao serial
+Serial pc(USBTX,USBRX);
+
+//Saida dos LEDs
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+//Entrada do Switch
+DigitalIn sSWITCH(pswitch);
+
+//Entradas dos sensores de linha
+DigitalIn slFL(plFL);
+DigitalIn slFR(plFR);
+DigitalIn slRL(plRL);
+DigitalIn slRR(plRR);
+
+//Entradas dos sensores de distancia
+DigitalIn sd1(pd1);
+DigitalIn sd2(pd2);
+DigitalIn sd3(pd3);
+DigitalIn sd4(pd4);
+DigitalIn sd5(pd5); 
+
+//Saidas analogicas para SaberTooth
+PwmOut saber1(psaber1);
+PwmOut saber2(psaber2);
+
+//Entrada de radio
+RadioIn radio;
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RadioIn.lib	Sat Apr 13 01:00:26 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/lfsantarelli/code/RadioIn/#0c22ced44247

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Servo.lib	Sat Apr 13 01:00:26 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/simon/code/Servo/#36b69a7ced07

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Apr 13 01:00:26 2013 +0000
@@ -0,0 +1,43 @@
+#include "Servo.h"
+#include "mbed.h"
+#include "RadioIn.h"
+#include "Config.h"
+
+void Drive(float m_esq, float m_dir){ // Valores de -1 a 1 em cada motor
+saber1.write((m_esq/2)+0.5);
+saber2.write((m_esq/2)+0.5);
+}
+
+void DriveRC(){
+            float trim=0; // Trim para casar o 0 da sabertooth com o PWM do Mbed
+            radio.Update();
+            saber1.write((radio.chan1+1)/2+trim);
+            saber2.write((radio.chan2+1)/2+trim);
+}
+
+
+float ReadRadio(int chan){  // Retorna o valor do canal entre -1 e 1
+radio.Update();
+if (chan==1){return radio.chan1;}
+if (chan==2){return radio.chan2;}
+if (chan==3){return radio.chan3;}
+else return 0;
+}
+
+
+// Melhor usar o V-Tail Mixer e fazer o mix via hardware
+void DriveMixedRC(){            
+            radio.Update();
+            saber1.write(((radio.chan1+radio.chan2)+1)/2);
+            saber2.write(((radio.chan1-radio.chan2)+1)/2);
+}
+
+int main()
+{
+saber1.period_us(5);
+saber2.period_us(5);
+radio.Init();
+while(1){
+         DriveMixedRC();
+        }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Apr 13 01:00:26 2013 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/5e5da4a5990b
\ No newline at end of file