Diff: HTTPServerExample.cpp

Revision:

3:97ed1391b2fc

Parent:

1:114e347434c1

--- a/HTTPServerExample.cpp	Fri Jul 09 14:46:03 2010 +0000
+++ b/HTTPServerExample.cpp	Thu Nov 03 21:45:57 2016 +0000
@@ -1,17 +1,24 @@
 #include "mbed.h"
 #include "EthernetNetIf.h"
 #include "HTTPServer.h"
-
+#include "motordriver.h"
 DigitalOut led1(LED1, "led1");
 DigitalOut led2(LED2, "led2");
 DigitalOut led3(LED3, "led3");
 DigitalOut led4(LED4, "led4");
+AnalogIn pot(p20);
 
 LocalFileSystem fs("webfs");
 
 EthernetNetIf eth;  
 HTTPServer svr;
 
+// Magician robot motor test
+
+//Connections to dual H-brdige driver for the two drive motors
+Motor  left(p21, p22, p23, 1); // pwm, fwd, rev, has brake feature
+
+
 int main() {
   Base::add_rpc_class<DigitalOut>();
 
@@ -40,12 +47,31 @@
   Timer tm;
   tm.start();
   //Listen indefinitely
+  
+  float speed;
   while(true)
-  {
+  {     
     Net::poll();
+    speed = pot.read();
+    if(led1==1){
+       left.speed(speed);
+       led1=0;
+        //start    
+    }
+    else if(led2 ==1){
+        //stop 
+        left.speed(0);
+        led2=0;
+    }
+    else if(led3==1){
+        //reverse        
+        left.speed(-speed);  
+        led3 =0;
+    }
+    
     if(tm.read()>.5)
     {
-      led1=!led1; //Show that we are alive
+      led4=!led4; //Show that we are alive
       tm.start();
     }
   }