Chris Styles
main.cpp@0:01a8e9b87e2f, 2009-09-20 (annotated)
- Committer:
- chris
- Date:
- Sun Sep 20 23:27:39 2009 +0000
- Revision:
- 0:01a8e9b87e2f
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| chris | 0:01a8e9b87e2f | 1 | #include "mbed.h" |
| chris | 0:01a8e9b87e2f | 2 | #include "Motor.h" |
| chris | 0:01a8e9b87e2f | 3 | |
| chris | 0:01a8e9b87e2f | 4 | /* |
| chris | 0:01a8e9b87e2f | 5 | * This code reads command files to control the motors. |
| chris | 0:01a8e9b87e2f | 6 | * The file name it reads is command.txt |
| chris | 0:01a8e9b87e2f | 7 | * |
| chris | 0:01a8e9b87e2f | 8 | * The file format is : |
| chris | 0:01a8e9b87e2f | 9 | * |
| chris | 0:01a8e9b87e2f | 10 | * <command> <data> |
| chris | 0:01a8e9b87e2f | 11 | * |
| chris | 0:01a8e9b87e2f | 12 | * The commands are : |
| chris | 0:01a8e9b87e2f | 13 | * |
| chris | 0:01a8e9b87e2f | 14 | * F - Forward, both motor on full speed forwards |
| chris | 0:01a8e9b87e2f | 15 | * B - Backwards, both motors on full speed in reverse |
| chris | 0:01a8e9b87e2f | 16 | * L - Left, left motor full speed backwards, right motor full speed forward |
| chris | 0:01a8e9b87e2f | 17 | * R - Right, right motor full speed backwards, left motor full speed forward |
| chris | 0:01a8e9b87e2f | 18 | * W - Wait, both motors stop |
| chris | 0:01a8e9b87e2f | 19 | * |
| chris | 0:01a8e9b87e2f | 20 | * Data : |
| chris | 0:01a8e9b87e2f | 21 | * |
| chris | 0:01a8e9b87e2f | 22 | * Data is a time in milliseconds to carry out the command. |
| chris | 0:01a8e9b87e2f | 23 | * |
| chris | 0:01a8e9b87e2f | 24 | * Example : |
| chris | 0:01a8e9b87e2f | 25 | * |
| chris | 0:01a8e9b87e2f | 26 | * F 1000 |
| chris | 0:01a8e9b87e2f | 27 | * W 200 |
| chris | 0:01a8e9b87e2f | 28 | * L 1000 |
| chris | 0:01a8e9b87e2f | 29 | * W 200 |
| chris | 0:01a8e9b87e2f | 30 | * R 1000 |
| chris | 0:01a8e9b87e2f | 31 | * W 200 |
| chris | 0:01a8e9b87e2f | 32 | * B 1000 |
| chris | 0:01a8e9b87e2f | 33 | * W 200 |
| chris | 0:01a8e9b87e2f | 34 | */ |
| chris | 0:01a8e9b87e2f | 35 | |
| chris | 0:01a8e9b87e2f | 36 | |
| chris | 0:01a8e9b87e2f | 37 | LocalFileSystem local("local"); |
| chris | 0:01a8e9b87e2f | 38 | |
| chris | 0:01a8e9b87e2f | 39 | Serial pc(USBTX, USBRX); |
| chris | 0:01a8e9b87e2f | 40 | |
| chris | 0:01a8e9b87e2f | 41 | BusOut leds(LED1,LED2,LED3,LED4); |
| chris | 0:01a8e9b87e2f | 42 | |
| chris | 0:01a8e9b87e2f | 43 | Motor left(p23, p6, p5); |
| chris | 0:01a8e9b87e2f | 44 | Motor right(p24, p8, p7); |
| chris | 0:01a8e9b87e2f | 45 | |
| chris | 0:01a8e9b87e2f | 46 | |
| chris | 0:01a8e9b87e2f | 47 | int main() { |
| chris | 0:01a8e9b87e2f | 48 | |
| chris | 0:01a8e9b87e2f | 49 | leds = 0x0; |
| chris | 0:01a8e9b87e2f | 50 | |
| chris | 0:01a8e9b87e2f | 51 | // flash the LED 3 time before starting |
| chris | 0:01a8e9b87e2f | 52 | for (int i=0; i < 3 ; i++) { |
| chris | 0:01a8e9b87e2f | 53 | leds = 0x1; |
| chris | 0:01a8e9b87e2f | 54 | wait (0.5); |
| chris | 0:01a8e9b87e2f | 55 | leds = 0x0; |
| chris | 0:01a8e9b87e2f | 56 | wait (0.5); |
| chris | 0:01a8e9b87e2f | 57 | } |
| chris | 0:01a8e9b87e2f | 58 | |
| chris | 0:01a8e9b87e2f | 59 | // Open the command.txt file |
| chris | 0:01a8e9b87e2f | 60 | FILE *commandfile = fopen("/local/command.txt", "r"); |
| chris | 0:01a8e9b87e2f | 61 | |
| chris | 0:01a8e9b87e2f | 62 | // If there is no file, sit flashing the LEDs |
| chris | 0:01a8e9b87e2f | 63 | if (commandfile == NULL) { |
| chris | 0:01a8e9b87e2f | 64 | while(1) { |
| chris | 0:01a8e9b87e2f | 65 | leds = 0xf; |
| chris | 0:01a8e9b87e2f | 66 | wait(0.5); |
| chris | 0:01a8e9b87e2f | 67 | leds = 0x0; |
| chris | 0:01a8e9b87e2f | 68 | wait(0.5); |
| chris | 0:01a8e9b87e2f | 69 | } |
| chris | 0:01a8e9b87e2f | 70 | } |
| chris | 0:01a8e9b87e2f | 71 | |
| chris | 0:01a8e9b87e2f | 72 | // process each of the commands in the file |
| chris | 0:01a8e9b87e2f | 73 | while (!feof(commandfile)) { |
| chris | 0:01a8e9b87e2f | 74 | |
| chris | 0:01a8e9b87e2f | 75 | char command = 0; |
| chris | 0:01a8e9b87e2f | 76 | int data = 0.0; |
| chris | 0:01a8e9b87e2f | 77 | |
| chris | 0:01a8e9b87e2f | 78 | // Read from the command file |
| chris | 0:01a8e9b87e2f | 79 | fscanf(commandfile, "%c %d\n", &command, &data); |
| chris | 0:01a8e9b87e2f | 80 | |
| chris | 0:01a8e9b87e2f | 81 | if((command=='f') || (command=='F')){ |
| chris | 0:01a8e9b87e2f | 82 | left.speed(1); |
| chris | 0:01a8e9b87e2f | 83 | right.speed(1); |
| chris | 0:01a8e9b87e2f | 84 | } |
| chris | 0:01a8e9b87e2f | 85 | else if((command=='b') || (command=='B')){ |
| chris | 0:01a8e9b87e2f | 86 | left.speed(-1); |
| chris | 0:01a8e9b87e2f | 87 | right.speed(-1); |
| chris | 0:01a8e9b87e2f | 88 | } |
| chris | 0:01a8e9b87e2f | 89 | else if((command=='l') || (command=='L')){ |
| chris | 0:01a8e9b87e2f | 90 | left.speed(-1); |
| chris | 0:01a8e9b87e2f | 91 | right.speed(1); |
| chris | 0:01a8e9b87e2f | 92 | } |
| chris | 0:01a8e9b87e2f | 93 | else if ((command=='r') || (command=='R')){ |
| chris | 0:01a8e9b87e2f | 94 | left.speed(1); |
| chris | 0:01a8e9b87e2f | 95 | right.speed(-1); |
| chris | 0:01a8e9b87e2f | 96 | } |
| chris | 0:01a8e9b87e2f | 97 | // Wait commands |
| chris | 0:01a8e9b87e2f | 98 | else if ((command=='w') || (command=='W')){ |
| chris | 0:01a8e9b87e2f | 99 | } |
| chris | 0:01a8e9b87e2f | 100 | |
| chris | 0:01a8e9b87e2f | 101 | // wait for the length of the command |
| chris | 0:01a8e9b87e2f | 102 | wait(data/1000.0); |
| chris | 0:01a8e9b87e2f | 103 | |
| chris | 0:01a8e9b87e2f | 104 | // Switch the motors off |
| chris | 0:01a8e9b87e2f | 105 | left.speed(0); |
| chris | 0:01a8e9b87e2f | 106 | right.speed(0); |
| chris | 0:01a8e9b87e2f | 107 | |
| chris | 0:01a8e9b87e2f | 108 | |
| chris | 0:01a8e9b87e2f | 109 | } // this is the end of the file while loop |
| chris | 0:01a8e9b87e2f | 110 | |
| chris | 0:01a8e9b87e2f | 111 | |
| chris | 0:01a8e9b87e2f | 112 | for (int i=0;i<10;i++) { |
| chris | 0:01a8e9b87e2f | 113 | leds = 0x0; |
| chris | 0:01a8e9b87e2f | 114 | wait (0.2); |
| chris | 0:01a8e9b87e2f | 115 | leds = 0xf; |
| chris | 0:01a8e9b87e2f | 116 | wait (0.2); |
| chris | 0:01a8e9b87e2f | 117 | } |
| chris | 0:01a8e9b87e2f | 118 | |
| chris | 0:01a8e9b87e2f | 119 | fclose(commandfile); |
| chris | 0:01a8e9b87e2f | 120 | exit(0); |
| chris | 0:01a8e9b87e2f | 121 | |
| chris | 0:01a8e9b87e2f | 122 | } // end of main |