Yoonseok Pyo
ORTP-L Version 0.1
Dependencies: Motordriver RIT mbed
Fork of
ORTP-L_V01
by 
Yoonseok Pyo
Revision 0:efc7a2c2f18e, committed 2013-03-29
- Comitter:
- passionvirus
- Date:
- Fri Mar 29 09:19:21 2013 +0000
- Child:
- 1:1fa7efbfc2d3
- Commit message:
- ORTP-L Version 0.1
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motordriver.lib Fri Mar 29 09:19:21 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/littlexc/code/Motordriver/#3110b9209d3c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/RIT.lib Fri Mar 29 09:19:21 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/wvd_vegt/code/RIT/#64198265f56f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 29 09:19:21 2013 +0000
@@ -0,0 +1,109 @@
+#include "mbed.h"
+#include "motordriver.h"
+#include "RIT.h"
+
+AnalogIn L_IR1(p15); // Analog In Pin
+AnalogIn L_IR2(p16); // Analog In Pin
+AnalogIn L_IR3(p17); // Analog In Pin
+AnalogIn R_IR3(p18); // Analog In Pin
+AnalogIn R_IR2(p19); // Analog In Pin
+AnalogIn R_IR1(p20); // Analog In Pin
+
+DigitalOut LLED(p7); // Digital Out Pin
+DigitalOut RLED(p8);
+
+DigitalOut L_IRLED1(p9); // Digital Out Pin
+DigitalOut L_IRLED2(p10); // Digital Out Pin
+DigitalOut L_IRLED3(p11); // Digital Out Pin
+DigitalOut R_IRLED3(p12); // Digital Out Pin
+DigitalOut R_IRLED2(p13); // Digital Out Pin
+DigitalOut R_IRLED1(p14); // Digital Out Pin
+
+Motor L_Motor(p25, p22, p21, 1); // pwm, fwd, rev, can break
+Motor R_Motor(p26, p24, p23, 1); // pwm, fwd, rev, can break
+
+
+Serial serial(USBTX,USBRX); // Tx, Rx Pin
+
+
+volatile uint32_t rithits = 0; //timer1 stops when timer1hits==imer1loop
+
+Timer rit_timing;
+
+void RIT_IRQHandler(void)
+{
+ //Flash Led.
+ L_IRLED1=!L_IRLED1;
+ L_IRLED2=!L_IRLED2;
+ L_IRLED3=!L_IRLED3;
+ R_IRLED3=!R_IRLED3;
+ R_IRLED2=!R_IRLED2;
+ R_IRLED1=!R_IRLED1;
+
+ //Count Hits.
+ rithits++;
+}
+
+RIT rit(1); //10ms
+
+int main()
+{
+ LLED=1;
+ RLED=1;
+ int data[6];
+ bool sensor[6]={0,0,0,0,0,0};
+
+
+ serial.baud(115200);
+ rit.setup_us(10);
+
+ rit.append(RIT_IRQHandler);
+
+ rit_timing.start();
+ rit.enable();
+
+ while(1)
+ {
+ data[0] = L_IR1 * 100; // ain (0.0 ~ 1.0)
+ data[1] = L_IR2 * 100; // ain (0.0 ~ 1.0)
+ data[2] = L_IR3 * 100; // ain (0.0 ~ 1.0)
+ data[3] = R_IR3 * 100; // ain (0.0 ~ 1.0)
+ data[4] = R_IR2 * 100; // ain (0.0 ~ 1.0)
+ data[5] = R_IR1 * 100; // ain (0.0 ~ 1.0)
+
+ serial.printf("| %03d | %03d | %03d | %03d | %03d | %03d |\n", data[0], data[1], data[2], data[3], data[4], data[5]); // mbed -> PC, data(0~100)
+
+ for(int i=0; i < 6; i++)
+ {
+ sensor[i] = data[i] > 90 ? 0 : 1;
+ }
+
+
+ if(sensor[0] == 1 || sensor[1] == 1 || sensor[2] == 1)
+ { //Left
+ L_Motor.speed(0.3);
+ R_Motor.speed(0.7);
+ LLED = 1; RLED = 0;
+ }
+ else if(sensor[4] == 1 || sensor[5] == 1 || sensor[6] == 1)
+ {
+ //Right
+ L_Motor.speed(0.7);
+ R_Motor.speed(0.3);
+ LLED = 0; RLED = 1;
+ }
+ else
+ {
+ L_Motor.speed(0.3);
+ R_Motor.speed(0.3);
+ LLED = 0; RLED = 0;
+ }
+ }
+
+ rit.unappend();rit.append(RIT_IRQHandler);
+ rit.disable();
+ rit_timing.stop();
+
+ rit_timing.start();
+ rit.enable();
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 29 09:19:21 2013 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/5e5da4a5990b \ No newline at end of file