E2016-S1-Team5 / Mbed 2 deprecated Team5robotkode

Kildekode til robot

Dependencies:   PID mbed

Fork of Team5 by E2016-S1-Team5

robot.cpp@8:5ca76759a67e, 2016-12-12 (annotated)

Committer:
kimnielsen
Date:
Mon Dec 12 13:35:34 2016 +0000
Revision:
8:5ca76759a67e
Parent:
7:a852e63cac3d 
hej

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 8:5ca76759a67e 24
kimnielsen 8:5ca76759a67e 25 while(1)
kimnielsen 8:5ca76759a67e 26 {
kimnielsen 8:5ca76759a67e 27 startfunction();
kimnielsen 8:5ca76759a67e 28 get_to_goal();
kimnielsen 8:5ca76759a67e 29 robot.stop();
kimnielsen 8:5ca76759a67e 30 printf("\n\r DistanceBysensor: %.2f \n", Dcenter());
kimnielsen 8:5ca76759a67e 31 wait_ms(2000);
kimnielsen 8:5ca76759a67e 32
kimnielsen 8:5ca76759a67e 33 init();
kimnielsen 8:5ca76759a67e 34 startfunction();
kimnielsen 8:5ca76759a67e 35 turn();
kimnielsen 8:5ca76759a67e 36 robot.stop();
kimnielsen 8:5ca76759a67e 37 }
kimnielsen 4:62a6681510d6 38 }
kimnielsen 4:62a6681510d6 39 /*
kimnielsen 2:1c27a43bb9b7 40 ----------------------------------------------------------------------------
kimnielsen 4:62a6681510d6 41 END OF MAIN FUNCTION
kimnielsen 7:a852e63cac3d 42 ----------------------------------------------------------------------------*/
kimnielsen 4:62a6681510d6 43 void startfunction()
kimnielsen 0:d3dbe632b1a9 44 {
kimnielsen 0:d3dbe632b1a9 45 T1.attach(&read_analog, 1.0); // attach the address of the read_analog
kimnielsen 0:d3dbe632b1a9 46 //function to read analog in every second
kimnielsen 0:d3dbe632b1a9 47 tacho_left.rise(&tickLeft); // attach the address of the count function
kimnielsen 0:d3dbe632b1a9 48 //to the falling edge
kimnielsen 0:d3dbe632b1a9 49 tacho_right.rise(&tickRight); // attach the address of the count function
kimnielsen 0:d3dbe632b1a9 50 //to the falling edge
kimnielsen 0:d3dbe632b1a9 51 init(); // initialise parameters (just for you to remember if you need to)
kimnielsen 7:a852e63cac3d 52 wait_ms(2000); //wait 1 secs here before you go
kimnielsen 0:d3dbe632b1a9 53 t.start(); // start timer (just demo of how you can use a timer)
kimnielsen 0:d3dbe632b1a9 54 }