Diff: main.cpp

Revision:

3:5d43739ec09f

Parent:

2:112ca6a4fc73

Child:

4:c15361d55018

--- a/main.cpp	Wed Dec 05 23:08:58 2018 +0000
+++ b/main.cpp	Wed Dec 12 21:59:14 2018 +0000
@@ -6,13 +6,17 @@
 #include "emic2.h"
 #include "XNucleo53L0A1.h"
 #include <stdio.h>
+#include "rtos.h"
+
+
 Serial pc(USBTX, USBRX);
 DigitalOut shdn(p26);
-
+AnalogOut led(p18);
 //I2C sensor pins
 #define VL53L0_I2C_SDA   p28
 #define VL53L0_I2C_SCL   p27
 
+
 static XNucleo53L0A1 *board=NULL;
 emic2 myTTS(p13, p14);
 Serial xbee1(p9, p10);
@@ -23,7 +27,7 @@
 
 char input;
 int counter;
-
+int direction;
 int main() {
     //initialize distance sensor
     int status;
@@ -43,8 +47,7 @@
     }
     
     
-    myTTS.volume(2);
-    myTTS.voice(3);
+    
     counter = 0;
     // reset the xbees (at least 200ns)
     rst1 = 0;
@@ -52,37 +55,64 @@
     rst1 = 1;
     wait_ms(1); 
     input = 'I';
+    
     A.speed(0);
     B.speed(0);
+    wait(2);
+    direction = 1;
     while(1) {
         if(xbee1.readable()) {
             input = xbee1.getc();
+            wait(0.2);
         }
-        A.speed(0);
-        B.speed(0);
+        //A.speed(0);
+        //B.speed(0);
         
         status = board->sensor_centre->get_distance(&distance);
         if (status == VL53L0X_ERROR_NONE) {
             pc.printf("D=%ld mm\r\n", distance);
+            
+        }
+        
+        while (distance < 200) {
+                direction = rand()*100;
+                if (direction > 50)
+                {
+                    A.speed(-0.5);
+                    B.speed(-0.5);
+                    led = 0;
+                    wait(0.1);
+                } else
+                {
+                    
+                    A.speed(0.5);
+                    B.speed(0.5);
+                    led = 1;
+                    wait(0.1);
+                }
+                status = board->sensor_centre->get_distance(&distance);
+                led = 0;
+                A.speed(0);
+                B.speed(0);
         }
         if (input == 'A')
         {
-            myTTS.speakf("S");//Speak command starts with "S"
-            myTTS.speakf("forward");
-            myTTS.speakf("\r"); //marks end of speak command
-            myTTS.ready();
+            //myTTS.speakf("S");//Speak command starts with "S"
+            //myTTS.speakf("forward");
+            //myTTS.speakf("\r"); //marks end of speak command
+            //myTTS.ready();
+            A.speed(-0.5);
+            B.speed(0.5);
+            wait(0.2);
+        } else if (input == 'B')
+        {
+            //myTTS.speakf("S");//Speak command starts with "S"
+            //myTTS.speakf("back");
+            //myTTS.speakf("\r"); //marks end of speak command
+            //myTTS.ready();
             A.speed(0.5);
             B.speed(-0.5);
-            wait(0.5);
-        } else if (input == 'B')
-        {
-            myTTS.speakf("S");//Speak command starts with "S"
-            myTTS.speakf("back");
-            myTTS.speakf("\r"); //marks end of speak command
-            myTTS.ready();
-            A.speed(-0.5);
-            B.speed(0.5);
-            wait(0.5);
+            wait(0.2);
         } else if (input == 'C')
         {
             myTTS.speakf("S");//Speak command starts with "S"
@@ -91,7 +121,7 @@
             myTTS.ready();
             A.speed(0.5);
             B.speed(0.5);
-            wait(0.5);
+            wait(0.2);
         } else if (input == 'D')
         {
             myTTS.speakf("S");//Speak command starts with "S"
@@ -100,7 +130,7 @@
             myTTS.ready();
             A.speed(-0.5);
             B.speed(-0.5);
-            wait(0.5);
+            wait(0.2);
         } else if (input == 'E')
         {
             myTTS.speakf("S");//Speak command starts with "S"
@@ -109,8 +139,7 @@
             myTTS.ready();
             A.speed(0);
             B.speed(0);
-            wait(0.5);
-            
+            wait(0.2);
         }
     }
 }
\ No newline at end of file