MbedResponse *NetCentricApp::rotateR(MbedRequest *request) {
printf("---------------IK BEN HIER___________");
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
if (request->n > 0) led1 = request->args[0];
if (request->n > 1) led2 = request->args[1];
if (request->n > 2) led3 = request->args[2];
if (request->n > 3) led4 = request->args[3];
MbedResponse *r = new MbedResponse();
r->requestId = request->id;
r->commandId = request->commandId;
r->error = NO_ERROR;
r->n = 4;
r->values = new float[4];
r->values[0] = led1;
r->values[1] = led2;
r->values[2] = led3;
r->values[3] = led4;
callServo(request->args[0]);
return r;
}
// Control the LED's.
MbedResponse *NetCentricApp::ledCommand(MbedRequest *request) {
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
if (request->n > 0) led1 = request->args[0];
if (request->n > 1) led2 = request->args[1];
if (request->n > 2) led3 = request->args[2];
if (request->n > 3) led4 = request->args[3];
MbedResponse *r = new MbedResponse();
r->requestId = request->id;
r->commandId = request->commandId;
r->error = NO_ERROR;
r->n = 4;
r->values = new float[4];
r->values[0] = led1;
r->values[1] = led2;
r->values[2] = led3;
r->values[3] = led4;
return r;
}
int main() {
MBED_HOSTTEST_TIMEOUT(20);
MBED_HOSTTEST_SELECT(stdio_auto);
MBED_HOSTTEST_DESCRIPTION(stdio);
MBED_HOSTTEST_START("MBED_2");
DigitalOut led1(LED1);
DigitalOut led2(LED2);
int value_int;
notify_start(); // Just to sync with host test supervisor
const char* PRINT_PATTERN = "MBED: Your value was: %d\r\n";
while (true) {
// SCANF PRINTF family
value_int = 0;
led1 = 1;
scanf("%d", &value_int);
printf(PRINT_PATTERN, value_int);
led1 = 0;
// FSCANF, FPRINTF family
value_int = 0;
led2 = 1;
fscanf(stdin, "%d", &value_int);
fprintf(stdout, PRINT_PATTERN, value_int);
led2 = 0;
}
}
int main(void)
{
uint8_t retval;
while (1) {
init();
for (retval = 0; retval < 50; retval++) {
/* wait x ms until inputs are debounced */
wait_for_timer_tick();
}
if (direction == ASK) {
if (position() == OPEN) direction = DOWN;
else direction = UP;
}
if (!get_key_press(START_BT)) {
goto unintended_wakeup;
}
led1(GREEN);
start_moving(direction);
retval = 1;
while (run_enable && retval) {
wait_for_timer_tick();
retval = pwm_ramp_up();
if (get_key_press(START_BT)) {
disable();
}
}
while (run_enable) {
wait_for_timer_tick();
if (get_key_press(START_BT)) {
disable();
}
}
retval = 1;
while (retval) {
wait_for_timer_tick();
retval = pwm_ramp_down();
}
stop_moving();
unintended_wakeup:
led1(OFF);
deinit();
sleep();
}
/* never reached */
return 0;
}
/*
* A task class to blink the led1
*/
void tskBlink(CThread *p_thread, xHandle p_param) {
CPin led1(LED_PIN_1); // declare led1 on P0.19
led1.output(); // set led1 as output pin.
while( p_thread->isAlive() ) { // check task alive
led1.toggle(); // toggle the led1
sleep(100);
}
}
void led(int i)
{
//if(i>99){_delay_ms(111);return;}
long int k;
for(k=0;k<255;k++){
led1(i/10);_delay_us(800);
led2(i%10);_delay_us(800);}
}
void tskLED1(CThread *p_thread, xHandle p_params) {
CPin led1(LED_PIN_0);
led1.output();
while( p_thread->isAlive() ) {
if ( m_semButton.wait() ) { // wait for the semaphore
led1.toggle();
}
}
}
void leds_state(int leds)
{
led1( ( leds & (1<<0) ) && (1<<0) );
led2( ( leds & (1<<1) ) && (1<<1) );
led3( ( leds & (1<<2) ) && (1<<2) );
led4( ( leds & (1<<3) ) && (1<<3) );
led5( ( leds & (1<<4) ) && (1<<4) );
led6( ( leds & (1<<5) ) && (1<<5) );
}
int main(void)
{
//Hier wird alles initialisiert, dh Grundeinstellungen festgelegt
init_Motor(); //Motor einstellen
init_system_tick(); //System Tick einstellen
init_drehzahlsensor(); //Drehzahlsensor einstellen
init_leds(); //LEDs einstellen
init_hupe(); //Hupe einstellen
sei(); //Alle Interrupts einschalten
while(1) //Alles innerhalb der while Schleife wird immer wieder wiederholt
{
if (~PINB & 0x01) //Wenn der invertierte Wert des ersten Bits in PINB 1 ist, dann (also wenn der Button gedrückt wird)
{
led1(AN); //Mach die LEDs 1 und 3 an
led3(AN);
m_r(255,0); //Und die Motoren mit Vollgas (255) in 2 Richtungen
m_l(255,1);
_delay_ms(500); //Warte 500 ms
led1(AUS); //LEDs 1 und 3 aus, LEDs 2 und 4 an
led3(AUS);
led2(AN);
led4(AN);
m_r(255,1); //Richtungen ändern
m_l(255,0);
_delay_ms(500); //und wieder 500ms in die andere Richtung
m_r(0,0); //Motoren aus
m_l(0,0);
led2(AUS); //Leds aus
led4(AUS);
hupe(AN); //Hupe an
_delay_ms(1000); //1 s warten
hupe(AUS); //Hupe aus
_delay_ms(300); //300ms warten
hupe(AN); //Hupe an
_delay_ms(500); //warte 500 ms
hupe(AUS); //Hupe aus
} //wieder nach oben
}
}
int main(void) {
DDRB |= _BV(PB6) | _BV(PB7); // LED outputs
PORTB |= _BV(PB7) | _BV(PB6);
DDRB |= _BV(PB2); // Enable Motors output
DDRC |= _BV(PC1); // Enable LASER outout
stop(); // This pulls the motor driver reset
wdt_enable(WDTO_4S);
muartInit();
mprintf(PSTR("#Power up!\n"));
// Ensure that the motor drivers are properly initialized by holding them in reset while the power stabilizes.
for (char i=0;i<10;i++) {
_delay_ms(100);
}
run();
mprintf(PSTR("#Motor drivers and laser armed!\n"));
led1(0);
led2(0);
char frame = 0;
while(1) {
if (!(frame & 15)) {
mprintf(PSTR("OK\n"));
}
if (frame & 8) {
led1(!(frame & 1));
} else {
led2(!(frame & 1));
}
_delay_ms(50);
wdt_reset();
frame++;
}
}
static void appTaskLED1Led(void *pdata) {
DigitalOut led1(LED1);
/* Start the OS ticker -- must be done in the highest priority task */
SysTick_Config(SystemCoreClock / OS_TICKS_PER_SEC);
/* Task main loop */
while (true) {
led1 = !led1;
OSTimeDlyHMSM(0,0,0,500);
}
}
void animation(void)
{
volatile int i;
for(i = 50;i<ANIMATION_MAX;i+=15)
{
led1(ON);
delay_ms(i);
led2(ON);
delay_ms(i);
led3(ON);
delay_ms(i);
led4(ON);
delay_ms(i);
led1(OFF);
delay_ms(i);
led2(OFF);
delay_ms(i);
led3(OFF);
delay_ms(i);
led4(OFF);
delay_ms(i);
}
}
void test_spdt()
{
//创建所需元器件
ngdc dc("dc1", 5);
ngspdt spdt("spdt", ngspdt::status_throw1);
ngresistor r1("1", 5);
ngresistor r2("2", 5);
ngled led1("led1");
ngled led2("led2");
ngground gnd;
//创建接线，连接各元器件
ngline l1(dc.pos, spdt.pole);
ngline l2(spdt.throw1, r1.p1);
ngline l3(spdt.throw2, r2.p1);
ngline l4(r1.p2, led1.pos);
ngline l5(r2.p2, led2.pos);
ngline l6(led1.neg, dc.neg);
ngline l7(led2.neg, dc.neg);
ngline l0(dc.neg, gnd.ground);
//创建电路图，添加元器件、接线到电路图
schema sch;
sch.AddDevices(&dc, &spdt, &r1, &r2, &led1, &led2, &gnd, 0);
sch.AddLines(&l1, &l2, &l3, &l4, &l5, &l6, &l7, &l0, 0);
//创建仿真对象，添加电路图，并开始暂态仿真
circuit cir(&sch);
cir.Tran("1t", "1m", 0);
do
{
Sleep(200);
char ch = getchar();
switch (ch)
{
case 'a':
cir.SwitchOver(&spdt);
Sleep(200);
break;
case 'q':
cir.Halt();
default:
break;
};
} while (cir.IsRunning()); //主程序线程，类似windows UI消息循环
}
int main(void)
{
// led pins c6,7 d13,6
gpio::PinOutput led1(gpio::C, 7);
// key pin E2-5
gpio::PinInput irpin(gpio::E, 3);
irpin_ptr = &irpin;
serial << "hehelo\n";
ir_decoder.SetDecodeCB(signalMatched);
Setup();
//LCDSetBounds(0,0,LCD_WIDTH-1,LCD_HEIGHT-1);
//LCDClear();
while(true)
{
led1 = irpin;
}
}
virtual void run() {
CPinINT irq1(P13);
CPinINT irq2(P14);
CPin led1(LED1);
CPin led2(LED2);
irq1.begin();
irq2.begin();
while(1) {
if ( irq1.wait(0) ) {
led1.invert();
}
if ( irq2.wait(0) ) {
led2.invert();
}
}
}
void GPSSensorUBX::DoSerialAGPS(void) {
// Light
PwmOut led1(LED1);
PwmOut led2(LED2);
led1.write(1.0);
led2.write(1.0);
bool gotSomething = false;
while(1) {
char c;
if(debug_read(&c)) {
DBG("got %c",c);
gps.putc(c);
gotSomething = true;
} else if(gotSomething) {
break;
}
}
DBG("out");
led1.write(0.0);
led2.write(0.0);
}
void vATaskFunction( void *pvParameters )
{
Serial *usb=(Serial*)pvParameters;
Led led1(LED1);
portTickType lastTickTime;
lastTickTime = xTaskGetTickCount ();
for( ;; )
{
led1.on();
vTaskDelayUntil (&lastTickTime, 100); /* wait until lastTickTime + 100ms */
led1.off();
usb->printf("** [A] TICK: %d\r\n",(int)lastTickTime);
vTaskDelayUntil (&lastTickTime, 400); /* wait until lastTickTime + 400ms */
}
}
static void appTaskLeds(void *pdata) {
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);
/* Task main loop */
while (true) {
if (led1Flashing) {
led1 = !led1;
}
if (led2Flashing) {
led2 = !led2;
}
if (led3Flashing) {
led3 = !led3;
}
if (led4Flashing) {
led4 = !led4;
}
OSTimeDlyHMSM(0,0,0,500);
}
}
int main (void)
{
ioport_set_pin_dir(IO_1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_3,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_4,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_5,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_6,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_7,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_8,IOPORT_DIR_INPUT);
init_octopus();
animation();
//Activate button interrupt
pmic_init();
pmic_set_scheduling(PMIC_SCH_ROUND_ROBIN);
PORTC.INTCTRL = 0x03;
PORTC.INT0MASK = (1<<3);
PORTC.PIN3CTRL |= (1<<1);
cpu_irq_enable();
//Activate ZCD signal interruption
cpu_irq_disable();
PORTD.INTCTRL = 0x03;
PORTD.INT0MASK = (1<<5);
PORTD.PIN5CTRL |= 0x01;
cpu_irq_enable();
//Activate RTC
rtc_init();
// pwm_ini(SERVO_0);
// pwm_update(SERVO_0,0);
// delay_ms(1000);
// pwm_update(SERVO_0,500);
// delay_ms(1000);
// pwm_update(SERVO_0,1000);
char aux;
char aux2;
for(;;)
{
printf("hello");
if(bluetooth_is_rx_complete())
{
scanf("%1c",&aux);
switch (aux)
{
case 'C':
scanf("%1c",&aux);
if (aux=='1')
{
led1(ON);
ioport_set_pin_level(IO_1,ON);
}
else
{
led1(OFF);
ioport_set_pin_level(IO_1,OFF);
}
break;
case 'T':
scanf("%1c",&aux);
if (aux=='1')
{
led2(ON);
ioport_set_pin_level(IO_2,ON);
}
else
{
led2(OFF);
ioport_set_pin_level(IO_2,OFF);
}
break;
case 'D':
scanf("%i",&dimmer);
RTC.COMP=dimmer;
break;
case 'O':
scanf("%1c",&aux);
scanf("%1c",&aux);
scanf("%1c",&aux2);
if(aux == '1')
{
if(aux2=='1')
{
led3(ON);
ioport_set_pin_level(IO_3,ON);
}
else
{
led3(OFF);
ioport_set_pin_level(IO_3,OFF);
}
}
else
{
if(aux2=='1')
{
led4(ON);
ioport_set_pin_level(IO_4,ON);
}
else
{
led4(OFF);
ioport_set_pin_level(IO_4,OFF);
}
}
break;
}
}
}
}
//
// Main Routine
//
int main(void) {
#ifdef DEBUG
CSerial ser; // declare a UART object
ser.enable();
CDebug dbg(ser); // Debug stream use the UART object
dbg.start();
#endif
//
// SoftDevice
//
bleDevice ble;
ble.attachEvent(onBleEvent);
ble.enable(); // enable BLE SoftDevice task
// GAP
ble.m_gap.settings(DEVICE_NAME); // set Device Name on GAP
bleServiceUriBeacon beacon(ble); // add uri beacon service
switch ( beacon.get().tx_power_mode ) {
case TX_POWER_MODE_LOWSET:
ble.m_gap.tx_power(BLE_TX_m8dBm);
break;
case TX_POWER_MODE_LOW:
ble.m_gap.tx_power(BLE_TX_m4dBm);
break;
case TX_POWER_MODE_MEDIUM:
ble.m_gap.tx_power(BLE_TX_0dBm);
break;
case TX_POWER_MODE_HIGH:
ble.m_gap.tx_power(BLE_TX_4dBm);
break;
}
bleConnParams conn(ble);
advertising_init(beacon_mode);
//
// Optional: Enable tickless technology
//
#ifndef DEBUG
CPowerSave::tickless(true);
#endif
//
//
//
CPin led0(LED_PIN_0);
led0.output();
CPin led1(LED_PIN_1);
led1.output();
CPin btn(BUTTON_PIN_0);
btn.input();
//
// Enter main loop.
//
while (1) {
//
// check button
//
if ( btn==LOW ) {
led1 = LED_ON;
// stop advertising
ble.m_advertising.stop();
// change beacon mode
if ( beacon_mode==beacon_mode_config ) {
beacon_mode = beacon_mode_normal;
} else {
beacon_mode = beacon_mode_config;
}
// update mode and re-start the advertising
advertising_init(beacon_mode);
// waiting for btn released
while(btn==LOW);
led1 = LED_OFF;
}
//
// LED Status
//
if ( beacon_mode==beacon_mode_config ) {
//
// Negotiate the "connection parameters update" in main-loop
//
conn.negotiate();
led0 = LED_ON;
sleep(50);
led0 = LED_OFF;
sleep(150);
} else {
led0 = LED_ON;
sleep(5);
led0 = LED_OFF;
sleep(beacon.get().beacon_period-5);
}
}
}
int main (void)
{
ioport_set_pin_dir(IO_1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_3,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(IO_4,IOPORT_DIR_OUTPUT);
init_octopus();
initial_animation();
pwm_ini(SERVO_0);
pwm_update(SERVO_0,0);
delay_ms(1000);
pwm_update(SERVO_0,500);
delay_ms(1000);
pwm_update(SERVO_0,1000);
char aux;
char aux2;
int dimmer=0;
for(;;)
{
if(bluetooth_is_rx_complete())
{
scanf("%1c",&aux);
switch (aux)
{
case 'C':
scanf("%1c",&aux);
if (aux=='1')
{
led1(ON);
ioport_set_pin_level(IO_1,ON);
}
else
{
led1(OFF);
ioport_set_pin_level(IO_1,OFF);
}
break;
case 'T':
scanf("%1c",&aux);
if (aux=='1')
{
led2(ON);
ioport_set_pin_level(IO_2,ON);
}
else
{
led2(OFF);
ioport_set_pin_level(IO_2,OFF);
}
break;
case 'D':
scanf("%i",&dimmer);
break;
case 'O':
scanf("%1c",&aux);
scanf("%1c",&aux);
scanf("%1c",&aux2);
if(aux == '1')
{
if(aux2=='1')
{
led3(ON);
ioport_set_pin_level(IO_3,ON);
}
else
{
led3(OFF);
ioport_set_pin_level(IO_3,OFF);
}
}
else
{
if(aux2=='1')
{
led4(ON);
ioport_set_pin_level(IO_4,ON);
}
else
{
led4(OFF);
ioport_set_pin_level(IO_4,OFF);
}
}
break;
}
}
dimmer=dimmer*10;
pwm_update(SERVO_0,dimmer);
}
}
int main(void) {
int i;
int reading1;
int reading2;
int address;
int test_array[100];
for(i=0;i<100;i++) {
motor(0,i); //spin the left motor forward
motor(1,i); //spin the right motor forward
}
i=0;
while(i>-100) {
motor(0,i); //spin the left motor backwards
motor(1,i); //spin the right motor backwards
i--;
}
i=50;
set_servo(0,i); //set servo motor 0 to move to 50 degrees
set_servo(3,i); //set servo motor 3 to move to 50 degrees
delay_milliseconds(100); //pause 100 milliseconds
delay_seconds(1); //pause 1 second
lcd_clear();
lcd_cursor(0,0);
printf ("Test1\n"); //the LCD will be 8x2 (8chars x 2lines)
printf ("Test2\n");
reading1 = analog(0); //get a reading from analog pin 0
reading2 = analog(5); //get a reading from analog pin 5
reading1 = digital(0); //get a reading from digital pin 0
reading2 = digital(1); //get a reading from digital pin 1
if (reading1 > 100) {
printf ("%d\n", reading1);
}
reading1 = accelerometer(0); //read x-axis
reading2 = accelerometer(1); //read y-axis
reading1 = accelerometer(2); //read z-axis
reading1 = battery_voltage(); //battery voltage
reading1 = read_serial_port(); //get a byte from the serial port
write_serial_port(reading1); //send a byte on the serial port
led1(1); //turn on on-board led1
led1(0); //turn off on-board led1
reading1 = read_ir(); //get a reading from the IR receiver
reset(); //reset the board
write_eeprom(address, reading1); //write a value to the non-volatile eeprom (these values will be stored across resets)
reading1 = read_eeprom(address); //get a reading from the non-volatile eeprom
reading1 = button(); //read the state of the on-board button
return 0;
}
