Diff: main.cpp

Revision:

0:1dbc1f10077d

Child:

1:69d85918eaf8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Jun 26 13:34:01 2011 +0000
@@ -0,0 +1,104 @@
+#include "mbed.h"
+#include "TextLCD.h"
+
+#define THR 200
+
+enum SignalMode{NOT_USED,FORWARD,BACK,LEFT,RIGHT,DASH_FORWARD,FORWARD_LEFT,FORWARD_RIGHT,DASH_FORWARD_LEFT,
+            DASH_FORWARD_RIGHT,BACK_LEFT,BACK_RIGHT,DASH_BACK,DASH_BACK_LEFT,DASH_BACK_RIGHT, STOP};
+SignalMode STAT;    
+
+int steering;        
+int signal;
+
+InterruptIn event(p21) ; 
+
+TextLCD lcd(p24, p26, p27, p28, p29, p30);
+BusOut myleds(LED1,LED2,LED3,LED4);
+
+int bitCnt = 0;
+Timer timer;
+int begin,end,interval;
+
+void tStart()
+{
+    interval = 0;
+    begin = timer.read_us();
+}
+
+void tEnd()
+{
+    end = timer.read_us();
+    interval = end - begin ;
+    timer.reset();  
+    
+    if( 2000 - THR < interval && interval < 2000 + THR ){
+        bitCnt = 0 ;
+        signal = 0;
+    }else if ( 500 -THR < interval && interval < 500 + THR ){
+        signal <<= 1;
+        bitCnt++;
+    }else if ( 1000 -THR < interval && interval < 1000 + THR ){
+        signal <<= 1;
+        signal++;
+        bitCnt++;       
+    }   
+   
+}
+
+int main() {
+    int data = 0;
+    timer.start() ;
+    event.fall(&tStart) ;
+    event.rise(&tEnd) ;
+
+    while(1) {
+        if ( bitCnt == 6){ 
+            data = signal;
+            lcd.locate(0,0);
+            lcd.printf("%3d",data);
+            lcd.locate(4,0);
+            lcd.printf("%d%d",(data&0x20)?1:0,(data&0x10)?1:0);
+            lcd.printf("%d%d%d%d",(data&0x08)?1:0,(data&0x04)?1:0,(data&0x02)?1:0,(data&0x01)?1:0);
+            lcd.locate(0,1);
+
+            if ( data < 16 )
+                lcd.printf("CH A");
+            else if ( data < 32 )
+                lcd.printf("CH B");
+            else if ( data < 48)
+                lcd.printf("CH C");           
+            else if ( data < 64)
+                lcd.printf("CH D");
+
+            steering = (int)(data&0x0F) ;    
+            lcd.locate(5,1);
+            switch(steering){
+                case LEFT:
+                    lcd.printf("LEFT     ");
+                    myleds = 0x01;
+                    break;
+                case RIGHT:
+                    lcd.printf("RIGHT    ");
+                    myleds = 0x08;
+                    break;
+                case FORWARD:
+                    lcd.printf("FORWARD");    
+                    break;
+                case BACK:
+                    lcd.printf("BACK     ");
+                    break;
+                case DASH_FORWARD:
+                    lcd.printf("DASH_FOR ");
+                    break;
+                case DASH_BACK:
+                    lcd.printf("DASH_BACK");
+                    break;    
+                case STOP:
+                    lcd.printf("STOP     ");    
+                    wait_ms(50);
+                    lcd.cls();
+                    myleds =0x00;
+            }    
+        }
+    }
+}