Christopher Hasler
First program to demonstrate a working robot. crude and ugly, basicly a smoke test.
Dependencies: mbed Motordriver Servo GP2xx
Revision 0:0bc8408a55f8, committed 2010-12-01
- Comitter:
- littlexc
- Date:
- Wed Dec 01 21:20:04 2010 +0000
- Commit message:
- purely a test software to show that the system can do something
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/GP2xx.lib Wed Dec 01 21:20:04 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/littlexc/code/GP2xx/#e3ea40a41d27
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Wed Dec 01 21:20:04 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Wed Dec 01 21:20:04 2010 +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 Wed Dec 01 21:20:04 2010 +0000
@@ -0,0 +1,99 @@
+#include <mbed.h>
+#include <motordriver.h>
+#include <Servo.h>
+#include <GP2xx.h>
+//pc interface
+Serial pc(USBTX, USBRX); // tx, rx
+//servos
+Servo LeftServo(p24);
+Servo RightServo(p23);
+//motors, left and right side
+Motor leftM(p22, p6, p5, 1); // pwm, fwd, rev, can break
+Motor rightM(p21, p7, p8, 1); // pwm, fwd, rev, can break
+//range finders, left and right side, and left and right front
+IRRangeFinder LS(p18,1);
+IRRangeFinder LF(p17,1);
+IRRangeFinder RF(p16,1);
+IRRangeFinder RS(p15,1);
+//debug leds.
+DigitalOut led1 (LED1);
+DigitalOut led2 (LED2);
+DigitalOut led3 (LED3);
+DigitalOut led4 (LED4);
+DigitalOut ledleft (p14);
+DigitalOut ledright (p13);
+DigitalOut ledfront (p12);
+
+int quickfirstprog() {//initalisation
+ led1 = led2 = led3 = led4 = 1;//lights
+ leftM.speed(0.5);
+ rightM.speed(-0.5);//shows that it works.
+ wait(1);
+ while (1) {//infinate loop to drive around
+ switch ( RS.read() ) {//ugly horrible switch statements that implement a crude attempt at object avoidance
+ case 4://really this exists to prove that the system drives, and the IR rangefinders have some sane values.
+ leftM.speed(-0.9);
+ break;
+ case 5:
+ leftM.speed(-0.8);
+ break;
+ case 7:
+ leftM.speed(-0.7);
+ break;
+ case 8:
+ leftM.speed(-0.6);
+ break;
+ case 10:
+ leftM.speed(-0.4);
+ break;
+ case 12:
+ leftM.speed(-0.2);
+ break;
+ case 14:
+ leftM.speed(0.0);
+ break;
+ case 20:
+ leftM.speed(0.4);
+ break;
+ case 25:
+ leftM.speed(0.6);
+ break;
+ case 30:
+ leftM.speed(0.8);
+ break;
+ }
+ switch ( LF.read() ) {
+ case 4:
+ rightM.speed(-1);
+ break;
+ case 5:
+ rightM.speed(-0.9);
+ break;
+ case 7:
+ rightM.speed(-0.8);
+ break;
+ case 8:
+ rightM.speed(-0.7);
+ break;
+ case 10:
+ rightM.speed(-0.6);
+ break;
+ case 12:
+ rightM.speed(-0.4);
+ break;
+ case 14:
+ rightM.speed(0.0);
+ break;
+ case 20:
+ rightM.speed(0.4);
+ break;
+ case 25:
+ rightM.speed(0.6);
+ break;
+ case 30:
+ rightM.speed(0.8);
+ break;
+ }
+ wait(0.1);
+ }//end of infinate loop to drive around
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Dec 01 21:20:04 2010 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e