Revision 9:3a0433c391cb, committed 2014-11-15

Comitter:

lsaristo

Date:

Sat Nov 15 05:07:24 2014 +0000

Parent:

8:12d780f7443e

Child:

10:94b068b2ce1d

Commit message:

A few minor changes

Changed in this revision

--- a/main.c	Thu Nov 13 07:12:31 2014 +0000
+++ b/main.c	Sat Nov 15 05:07:24 2014 +0000
@@ -7,12 +7,20 @@
  *
  * @author  John Wilkey
  */
-#include "project.h"
+#include "main.h"
 
 /** 
  * These are global data Used externally in all other files 
  */
 m3pi        pi;
+
+//
+// Digital inputs to the mBed
+DigitalIn   btn_b(p21);
+
+//
+// Digital outputs from the mBed. Note that by default these are
+// used to drive the 8 LED's on the top board. 
 DigitalOut  pin15(p15);
 DigitalOut  pin16(p16);
 DigitalOut  pin17(p17);
@@ -20,43 +28,65 @@
 DigitalOut  pin19(p19);
 DigitalOut  pin20(p20);
 
+// 
+// mBed onboard LEDs
+DigitalOut  oled_1(LED1);
+DigitalOut  oled_2(LED2);
+DigitalOut  oled_3(LED3);
+DigitalOut  oled_4(LED4);
+
+
 /**
  * @brief Entry point. Main loop.
  */
 int main()
 {
-    pretty_print("PiCO");
-
-    while(1) {
-        wait(2);
-        forward(10, DRIVE_SPEED);
-        wait(2);
-        backward(10, DRIVE_SPEED);
-    }
+    //
+    // Basic setup information
+    DigitalOut olen_1(LED1);
+    pi.locate(0,0);
+    pi.printf("PiCO");
+    pi.locate(0,1);
+    pi.printf("%f mV", pi.battery());
 
     //
-    // Our code should NEVER reach this point. 
-    return EXIT_FAILURE;
+    // Main program loop.
+    while(1) {
+        forward(10);
+        right(90);
+        forward(10);
+        right(90);
+        forward(10);
+        wait(2);
+        left(180);
+    }
+    
+    //
+    // We should never reach this point!
 }
 
-int forward(float amt, float spd)
+int forward(int amt)
 {
-    if(amt > 1) { spd = 1; }
-    pi.forward(spd);
-    wait(amt);
+    pi.locate(0,0);
+    pi.printf("Fwd %d", amt);
+    pi.forward(DRIVE_SPEED);
+    wait(amt*DRIVE_RATE);
     return EXIT_SUCCESS;
 }
 
-int backward(float amt, float spd)
+int backward(int amt)
 {
-    if(amt > 1) { spd = 1; }
-    pi.backward(spd);
-    wait(amt);
+    pi.locate(0,0);
+    pi.printf("Back %d", amt);
+    pi.backward(DRIVE_SPEED);
+    wait(amt*DRIVE_RATE);
     return EXIT_SUCCESS;
 }
 
 int right(float deg)
 {
+    pi.locate(0,0);
+    pi.printf("Right %f", deg);
     pi.right(TURN_SPEED);
     wait(deg/360);
     return EXIT_SUCCESS;
@@ -64,14 +94,9 @@
 
 int left(float deg)
 {
+    pi.locate(0,0);
+    pi.printf("Left %f", deg);
     pi.left(TURN_SPEED);
     wait(deg/360);
     return EXIT_SUCCESS;
-}
-
-void pretty_print(char* msg)
-{
-    pi.locate(0,1);
-    pi.printf(msg);
-}
-
+}
\ No newline at end of file

--- a/main.h	Thu Nov 13 07:12:31 2014 +0000
+++ b/main.h	Sat Nov 15 05:07:24 2014 +0000
@@ -8,32 +8,32 @@
 #ifndef _PROJECT_H
 #define _PROJECT_H
 
-#include <stdio.h>
 #include "mbed.h"
 #include "m3pi.h"
-#define TURN_SPEED 0.25
+#include <string.h>
+#include <stdarg.h>
+#include <stdio.h>
+#define TURN_SPEED  0.25
 #define DRIVE_SPEED 0.5
 #define ERR_SUCCESS 0
 #define ERR_FAILURE 1
-
+#define DRIVE_RATE  1/50
 
 /**
  * @brief Driver forward.
  *
- * @param[in]   amt     Amount to drive forward.
- * @param[in]   spd     Drive speed.
+ * @param[in]   amt     Amount to drive forward. In centimeters.
  * @return              Success or failure. 
  */
-int forward(float amt, float spd);
+int forward(int amt);
 
 /**
  * @brief Drive backward.
  *
- * @param[in]   amt     Amount to drive backward.
- * @param[in]   spd     Drive speed.
+ * @param[in]   amt     Amount to drive backward. In centimeters.
  * @return              Success or failure. 
  */
-int backward(float amt, float spd);
+int backward(int amt);
 
 /**
  * @brief Turn right.
@@ -57,15 +57,6 @@
  * @brief Controller decision logic.
  *
  * Decide what to do next based on the status of the drawing so far.
- *
  */
 void next_action();
-
-/**
- * @brief Print a formatted message to the LCD
- */
-void pretty_print(char* msg);
-
-
-
 #endif