E2016-S1-Team5 / Mbed 2 deprecated EndeligKildekode

Endelig kildekode med rettelser.

Dependencies:   PID mbed

Fork of Team5robotkode by E2016-S1-Team5

robot.cpp@9:f14532fd7a02, 2016-12-15 (annotated)

Committer:
kimnielsen
Date:
Thu Dec 15 13:50:26 2016 +0000
Revision:
9:f14532fd7a02
Parent:
8:5ca76759a67e 
Endelig kildekode med rettelser.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kimnielsen 0:d3dbe632b1a9 1 /*
kimnielsen 0:d3dbe632b1a9 2 ============================================================================
kimnielsen 0:d3dbe632b1a9 3 Name : robot.cpp
kimnielsen 2:1c27a43bb9b7 4 Author : Team 5
kimnielsen 0:d3dbe632b1a9 5 Version : 0.1
kimnielsen 2:1c27a43bb9b7 6 Date : 13-10-2016
kimnielsen 0:d3dbe632b1a9 7 Copyright : Open for all
kimnielsen 4:62a6681510d6 8 Description : Program to serve the platform for Pro1 2016
kimnielsen 0:d3dbe632b1a9 9 ============================================================================
kimnielsen 7:a852e63cac3d 10 */
kimnielsen 7:a852e63cac3d 11 #include "odometry.h"
kimnielsen 0:d3dbe632b1a9 12 #include "mbed.h"
kimnielsen 0:d3dbe632b1a9 13 #include "hack_motor.h"
kimnielsen 2:1c27a43bb9b7 14 #include <math.h>
kimnielsen 0:d3dbe632b1a9 15
kimnielsen 4:62a6681510d6 16 void startfunction( );
kimnielsen 7:a852e63cac3d 17 Ticker T1; // create an object T1 of Ticker
kimnielsen 0:d3dbe632b1a9 18
kimnielsen 4:62a6681510d6 19 int main()
kimnielsen 7:a852e63cac3d 20 {
kimnielsen 9:f14532fd7a02 21 startfunction();
kimnielsen 9:f14532fd7a02 22 distance = 2000;
kimnielsen 9:f14532fd7a02 23 get_to_goal();;
kimnielsen 9:f14532fd7a02 24 robot.stop();
kimnielsen 9:f14532fd7a02 25 distance = 4500;
kimnielsen 9:f14532fd7a02 26 wait_ms(1000);
kimnielsen 9:f14532fd7a02 27
kimnielsen 9:f14532fd7a02 28 init();
kimnielsen 9:f14532fd7a02 29 while(tickR <= 16)
kimnielsen 8:5ca76759a67e 30 {
kimnielsen 9:f14532fd7a02 31 robot.FW(0.5, 0);
kimnielsen 9:f14532fd7a02 32 wait_ms(10);
kimnielsen 9:f14532fd7a02 33 }
kimnielsen 9:f14532fd7a02 34 robot.stop();
kimnielsen 9:f14532fd7a02 35
kimnielsen 9:f14532fd7a02 36 while(1)
kimnielsen 9:f14532fd7a02 37 {
kimnielsen 9:f14532fd7a02 38 init();
kimnielsen 8:5ca76759a67e 39 startfunction();
kimnielsen 8:5ca76759a67e 40 get_to_goal();
kimnielsen 9:f14532fd7a02 41 robot.stop();
kimnielsen 9:f14532fd7a02 42 wait_ms(1000);
kimnielsen 8:5ca76759a67e 43
kimnielsen 9:f14532fd7a02 44 init();
kimnielsen 9:f14532fd7a02 45 while(tickR <= 16)
kimnielsen 9:f14532fd7a02 46 {
kimnielsen 9:f14532fd7a02 47 robot.FW(0.5, 0);
kimnielsen 9:f14532fd7a02 48 wait_ms(10);
kimnielsen 9:f14532fd7a02 49 }
kimnielsen 9:f14532fd7a02 50 robot.stop();
kimnielsen 4:62a6681510d6 51 }
kimnielsen 9:f14532fd7a02 52 }
kimnielsen 4:62a6681510d6 53 void startfunction()
kimnielsen 0:d3dbe632b1a9 54 {
kimnielsen 0:d3dbe632b1a9 55 tacho_left.rise(&tickLeft); // attach the address of the count function
kimnielsen 0:d3dbe632b1a9 56 //to the falling edge
kimnielsen 0:d3dbe632b1a9 57 tacho_right.rise(&tickRight); // attach the address of the count function
kimnielsen 0:d3dbe632b1a9 58 //to the falling edge
kimnielsen 0:d3dbe632b1a9 59 init(); // initialise parameters (just for you to remember if you need to)
kimnielsen 7:a852e63cac3d 60 wait_ms(2000); //wait 1 secs here before you go
kimnielsen 0:d3dbe632b1a9 61 t.start(); // start timer (just demo of how you can use a timer)
kimnielsen 0:d3dbe632b1a9 62 }