Danny Nichols / Mbed OS ENGR6002_P001unk

stilldk

Dependencies:   vl53l0x_api SRF05

main.cpp@0:041c1089b6e5, 2022-03-10 (annotated)

Committer:
dnikolz
Date:
Thu Mar 10 08:40:14 2022 +0000
Revision:
0:041c1089b6e5
idk

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dnikolz 0:041c1089b6e5 1 #include "mbed.h"
dnikolz 0:041c1089b6e5 2 #include "SRF05.h"
dnikolz 0:041c1089b6e5 3 #include "Simplifier.h"
dnikolz 0:041c1089b6e5 4 #include "Shape.h"
dnikolz 0:041c1089b6e5 5 #include "VL53L0XSimplifier.h"
dnikolz 0:041c1089b6e5 6
dnikolz 0:041c1089b6e5 7 #define Pin1 PB_0
dnikolz 0:041c1089b6e5 8 #define Pin2 PB_0
dnikolz 0:041c1089b6e5 9 #define Pin_GPIO PB_0
dnikolz 0:041c1089b6e5 10 //DigitalOut myled(LED1);
dnikolz 0:041c1089b6e5 11
dnikolz 0:041c1089b6e5 12 PwmOut Drive_pin_A(PA_8); //steering servo PWM output pin D7
dnikolz 0:041c1089b6e5 13 PwmOut Drive_pin_B(PA_9); //Not Used
dnikolz 0:041c1089b6e5 14 PwmOut Drive_pin_C(PB_10); //Motor drive PWM output pin D6
dnikolz 0:041c1089b6e5 15 PwmOut Drive_pin_D(PB_4); //Motor drive PWM output pin D5
dnikolz 0:041c1089b6e5 16
dnikolz 0:041c1089b6e5 17 int Turn_right=2;
dnikolz 0:041c1089b6e5 18 int Turn_left=0;
dnikolz 0:041c1089b6e5 19 int Speed1=10; //Half power
dnikolz 0:041c1089b6e5 20 int Speed2=20; //Full power
dnikolz 0:041c1089b6e5 21 int PW_Period=20;
dnikolz 0:041c1089b6e5 22
dnikolz 0:041c1089b6e5 23 int main()
dnikolz 0:041c1089b6e5 24 {
dnikolz 0:041c1089b6e5 25 Simplifier::accelerator();
dnikolz 0:041c1089b6e5 26 VL53Simplifier::runVL53();
dnikolz 0:041c1089b6e5 27 // default main
dnikolz 0:041c1089b6e5 28 Drive_pin_D.period_ms(PW_Period);
dnikolz 0:041c1089b6e5 29 Drive_pin_D.pulsewidth_ms(0);
dnikolz 0:041c1089b6e5 30 Drive_pin_C.period_ms(PW_Period);
dnikolz 0:041c1089b6e5 31 Drive_pin_C.pulsewidth_ms(0); //drive motor off
dnikolz 0:041c1089b6e5 32
dnikolz 0:041c1089b6e5 33 wait_us(7);
dnikolz 0:041c1089b6e5 34
dnikolz 0:041c1089b6e5 35 Drive_pin_A.period_ms(PW_Period); //Steering Servo period
dnikolz 0:041c1089b6e5 36 Drive_pin_A.pulsewidth_us(1525); //Steering neutral (includes a 25uS offset)
dnikolz 0:041c1089b6e5 37
dnikolz 0:041c1089b6e5 38 wait_us(1);
dnikolz 0:041c1089b6e5 39
dnikolz 0:041c1089b6e5 40 Drive_pin_D.period_ms(PW_Period);
dnikolz 0:041c1089b6e5 41 Drive_pin_D.pulsewidth_ms(0);
dnikolz 0:041c1089b6e5 42 Drive_pin_C.period_ms(PW_Period);
dnikolz 0:041c1089b6e5 43 Drive_pin_C.pulsewidth_ms(Speed1); //drive motor on forward half power
dnikolz 0:041c1089b6e5 44
dnikolz 0:041c1089b6e5 45 wait_us(4);
dnikolz 0:041c1089b6e5 46 Shape::oval();
dnikolz 0:041c1089b6e5 47
dnikolz 0:041c1089b6e5 48 Drive_pin_A.pulsewidth_us(1275); //Half turn right
dnikolz 0:041c1089b6e5 49
dnikolz 0:041c1089b6e5 50 wait_us(7 );
dnikolz 0:041c1089b6e5 51
dnikolz 0:041c1089b6e5 52 Drive_pin_A.pulsewidth_us(1000); // Full steering lock
dnikolz 0:041c1089b6e5 53 Drive_pin_C.period_ms(PW_Period);
dnikolz 0:041c1089b6e5 54 Drive_pin_C.pulsewidth_ms(Speed2); // Full power
dnikolz 0:041c1089b6e5 55
dnikolz 0:041c1089b6e5 56 wait_us(5);
dnikolz 0:041c1089b6e5 57
dnikolz 0:041c1089b6e5 58 Drive_pin_A.pulsewidth_us(1525); // Neutral steering
dnikolz 0:041c1089b6e5 59
dnikolz 0:041c1089b6e5 60 wait_us(1);
dnikolz 0:041c1089b6e5 61
dnikolz 0:041c1089b6e5 62 Drive_pin_A.pulsewidth_us(2000); // full steering opposite lock
dnikolz 0:041c1089b6e5 63
dnikolz 0:041c1089b6e5 64 wait_us(5.5);
dnikolz 0:041c1089b6e5 65
dnikolz 0:041c1089b6e5 66 Drive_pin_A.pulsewidth_us(1525); // Neutral steering
dnikolz 0:041c1089b6e5 67
dnikolz 0:041c1089b6e5 68 wait_us(1);
dnikolz 0:041c1089b6e5 69
dnikolz 0:041c1089b6e5 70 Drive_pin_D.period_ms(PW_Period); //drive motor reverse
dnikolz 0:041c1089b6e5 71 Drive_pin_D.pulsewidth_ms(Speed1);
dnikolz 0:041c1089b6e5 72 Drive_pin_C.period_ms(PW_Period);
dnikolz 0:041c1089b6e5 73 Drive_pin_C.pulsewidth_ms(0);
dnikolz 0:041c1089b6e5 74
dnikolz 0:041c1089b6e5 75 wait_us(3);
dnikolz 0:041c1089b6e5 76
dnikolz 0:041c1089b6e5 77 Drive_pin_C.period_ms(PW_Period); //drive motor off
dnikolz 0:041c1089b6e5 78 Drive_pin_C.pulsewidth_ms(0);
dnikolz 0:041c1089b6e5 79 Drive_pin_D.period_ms(PW_Period);
dnikolz 0:041c1089b6e5 80 Drive_pin_D.pulsewidth_ms(0);
dnikolz 0:041c1089b6e5 81
dnikolz 0:041c1089b6e5 82 }
dnikolz 0:041c1089b6e5 83