E2016-S1-Team5
/
EndeligKildekode
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Team5robotkode
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E2016-S1-Team5
Diff: robot.cpp
- Revision:
- 5:cf033e9d4468
- Parent:
- 4:62a6681510d6
- Child:
- 6:c2d4a02115db
--- a/robot.cpp Wed Nov 23 21:40:26 2016 +0000
+++ b/robot.cpp Thu Nov 24 09:14:48 2016 +0000
@@ -14,6 +14,8 @@
#include "nucleo_servo.h"
#include "hack_motor.h"
#include <math.h>
+#include "PID.h"
+
void startfunction( );
Ticker T1; // create an object T1 of Ticker
@@ -23,18 +25,13 @@
MAIN FUNCTION
----------------------------------------------------------------------------*/
int main()
-{
+{
/*
=============================================================================
Driving and stopping the robot with member functions from the wheel class
=============================================================================*/
- startfunction(); // 1. DRIVE
- while(Dtravel_1() <= DISTANCES[0]) // OVERVEJ AT SMIDE "get_to_goal" funktionen ind i selve while loopet, sådan, at beregningerne sker parallelt.
- {
- get_to_goal(); // TJEK DETTE
- robot.FW(0.5, 0.5);
- wait_ms(5000);
- }
+ startfunction(); // 1. DRIVE
+ get_to_goal();
robot.stop();
printf("\n\rtimeused = %4d tickL= %4d tickR = %4d \n", t.read_ms(),tickL,