FAD 2016/2017
/
Progetto
Sturiat
main.cpp
- Committer:
- Eltanke25
- Date:
- 2017-01-23
- Revision:
- 0:ae2143cb24b1
File content as of revision 0:ae2143cb24b1:
#include "mbed.h" #include "Motor.h" Motor m1(D10, D4, D9); //pwm (E1), fwd (1A), rev (1B) Motor m2(D5, D6, D7); //pwm (E2), fwd (2A), rev (2B) // Pin digitale di uscita RawSerial hc05(D8, D2); DigitalOut leddx1(D3); DigitalOut leddx2(D11); DigitalOut ledsx1(D12); DigitalOut ledsx2(D13); DigitalOut anter(PC_1); Timeout tempo; void avanti(float x) { m1.speed(x); m2.speed(x); } void indietro(float x) { m1.speed(-x); m2.speed(-x); } void destra(float x) { m1.speed(0); m2.speed(x); } void sinistra(float x) { m1.speed(x); m2.speed(0); } void avantisinistra(float x) { m1.speed(x); m2.speed(x/2); } void avantidestra(float x) { m1.speed(x/2); m2.speed(x); } void indietrosinistra(float x) { m1.speed(-x); m2.speed(-x/2); } void indietrodestra(float x) { m1.speed(-x/2); m2.speed(-x); } void stop() { m1.speed(0); m2.speed(0); } int main () { float v=0; char a; hc05.baud(9600); while (1) { // se e’¨ stato ricevuto un carattere a=hc05.getc(); if(a=='F') avanti(v); else if (a=='B') { indietro(v); } else if (a=='L') { sinistra(v); } else if(a=='R') { destra(v); } else if(a=='G') avantisinistra(v); else if(a=='I') avantidestra(v); else if(a=='H') indietrosinistra(v); else if(a=='J') indietrodestra(v); else if (a=='S') stop(); else if(a=='0') v=0; else if(a=='1') v=0.1; else if(a=='2') v=0.2; else if(a=='3') v=0.3; else if(a=='4') v=0.4; else if(a=='5') v=0.5; else if(a=='6') v=0.6; else if(a=='7') v=0.7; else if(a=='8') v=0.8; else if(a=='9') v=0.9; else if(a=='q') v=1; else if(a=='W') { leddx1=1; ledsx1=1; } else if(a=='w') { leddx1=0; ledsx1=0; } else if(a=='U') { leddx2=1; ledsx2=1; } else if(a=='u') { leddx2=0; ledsx2=0; } } }