E2016-S1-Team5 / Mbed 2 deprecated EndeligKildekode

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Dependencies:   PID mbed

Fork of Team5robotkode by E2016-S1-Team5

robot.cpp@7:a852e63cac3d, 2016-12-09 (annotated)

Committer:
kimnielsen
Date:
Fri Dec 09 12:32:21 2016 +0000
Revision:
7:a852e63cac3d
Parent:
6:c2d4a02115db
Child:
8:5ca76759a67e
Kildekode til robot

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 7:a852e63cac3d 21 /////////////////////////////////////////////////////////////////////////////
kimnielsen 7:a852e63cac3d 22 // Driving setup //
kimnielsen 7:a852e63cac3d 23 /////////////////////////////////////////////////////////////////////////////
kimnielsen 7:a852e63cac3d 24 while(1) //Remember to include if statement to stop robot if it's time to recharge
kimnielsen 7:a852e63cac3d 25 {
kimnielsen 7:a852e63cac3d 26 read_analog();
kimnielsen 7:a852e63cac3d 27 startfunction();
kimnielsen 7:a852e63cac3d 28 get_to_goal();
kimnielsen 7:a852e63cac3d 29 robot.stop();
kimnielsen 7:a852e63cac3d 30 printf("\n\r DistanceBysensor: %.2f \n", Dcenter());
kimnielsen 7:a852e63cac3d 31 wait_ms(2000);
kimnielsen 7:a852e63cac3d 32
kimnielsen 7:a852e63cac3d 33 read_analog();
kimnielsen 7:a852e63cac3d 34 startfunction();
kimnielsen 5:cf033e9d4468 35 get_to_goal();
kimnielsen 7:a852e63cac3d 36 robot.stop();
kimnielsen 7:a852e63cac3d 37 printf("\n\r DistanceBysensor: %.2f \n", Dcenter());
kimnielsen 7:a852e63cac3d 38 wait_ms(2000);
kimnielsen 7:a852e63cac3d 39
kimnielsen 7:a852e63cac3d 40 read_analog();
kimnielsen 7:a852e63cac3d 41 startfunction();
kimnielsen 7:a852e63cac3d 42 get_to_goal();
kimnielsen 7:a852e63cac3d 43 robot.stop();
kimnielsen 7:a852e63cac3d 44 printf("\n\r DistanceBysensor: %.2f \n", Dcenter());
kimnielsen 7:a852e63cac3d 45 wait_ms(2000);
kimnielsen 7:a852e63cac3d 46
kimnielsen 7:a852e63cac3d 47 read_analog();
kimnielsen 7:a852e63cac3d 48 startfunction();
kimnielsen 7:a852e63cac3d 49 get_to_goal();
kimnielsen 7:a852e63cac3d 50 robot.stop();
kimnielsen 7:a852e63cac3d 51 printf("\n\r DistanceBysensor: %.2f \n", Dcenter());
kimnielsen 7:a852e63cac3d 52 wait_ms(2000);
kimnielsen 7:a852e63cac3d 53 }
kimnielsen 4:62a6681510d6 54 }
kimnielsen 4:62a6681510d6 55 /*
kimnielsen 2:1c27a43bb9b7 56 ----------------------------------------------------------------------------
kimnielsen 4:62a6681510d6 57 END OF MAIN FUNCTION
kimnielsen 7:a852e63cac3d 58 ----------------------------------------------------------------------------*/
kimnielsen 4:62a6681510d6 59 void startfunction()
kimnielsen 0:d3dbe632b1a9 60 {
kimnielsen 0:d3dbe632b1a9 61 T1.attach(&read_analog, 1.0); // attach the address of the read_analog
kimnielsen 0:d3dbe632b1a9 62 //function to read analog in every second
kimnielsen 0:d3dbe632b1a9 63 tacho_left.rise(&tickLeft); // attach the address of the count function
kimnielsen 0:d3dbe632b1a9 64 //to the falling edge
kimnielsen 0:d3dbe632b1a9 65 tacho_right.rise(&tickRight); // attach the address of the count function
kimnielsen 0:d3dbe632b1a9 66 //to the falling edge
kimnielsen 0:d3dbe632b1a9 67 init(); // initialise parameters (just for you to remember if you need to)
kimnielsen 7:a852e63cac3d 68 wait_ms(2000); //wait 1 secs here before you go
kimnielsen 0:d3dbe632b1a9 69 t.start(); // start timer (just demo of how you can use a timer)
kimnielsen 0:d3dbe632b1a9 70 }