EE149
/
FinalProject
Final Project files for mBed development.
main.c@18:eab7b0e89398, 2014-12-01 (annotated)
- Committer:
- alecguertin
- Date:
- Mon Dec 01 01:02:42 2014 +0000
- Revision:
- 18:eab7b0e89398
- Parent:
- 17:c72c092fcdf7
- Child:
- 19:47759cf4f9b9
added logic to calculate angle to drive at -- untested
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lsaristo | 1:7e0243c27ecb | 1 | /** |
lsaristo | 1:7e0243c27ecb | 2 | * @file driver.c |
lsaristo | 1:7e0243c27ecb | 3 | * @brief Basic driver program for our robot's controller logic. |
lsaristo | 1:7e0243c27ecb | 4 | * |
lsaristo | 1:7e0243c27ecb | 5 | * Maybe add lots of stuff here or maybe split it off into |
lsaristo | 1:7e0243c27ecb | 6 | * multiple subfiles? |
lsaristo | 1:7e0243c27ecb | 7 | * |
lsaristo | 1:7e0243c27ecb | 8 | * @author John Wilkey |
lsaristo | 1:7e0243c27ecb | 9 | */ |
lsaristo | 9:3a0433c391cb | 10 | #include "main.h" |
lsaristo | 10:94b068b2ce1d | 11 | #include "control.h" |
John Wilkey |
5:01882c3de2dc | 12 | |
John Wilkey |
5:01882c3de2dc | 13 | /** |
John Wilkey |
5:01882c3de2dc | 14 | * These are global data Used externally in all other files |
John Wilkey |
5:01882c3de2dc | 15 | */ |
lsaristo | 7:6e5cc24e1ce7 | 16 | m3pi pi; |
lsaristo | 12:1aa6b8a74136 | 17 | Timer timer; |
lsaristo | 9:3a0433c391cb | 18 | |
lsaristo | 9:3a0433c391cb | 19 | // |
lsaristo | 9:3a0433c391cb | 20 | // Digital inputs to the mBed |
lsaristo | 10:94b068b2ce1d | 21 | DigitalIn start_button(p21); |
lsaristo | 9:3a0433c391cb | 22 | |
lsaristo | 9:3a0433c391cb | 23 | // |
lsaristo | 9:3a0433c391cb | 24 | // Digital outputs from the mBed. Note that by default these are |
lsaristo | 9:3a0433c391cb | 25 | // used to drive the 8 LED's on the top board. |
lsaristo | 7:6e5cc24e1ce7 | 26 | DigitalOut pin15(p15); |
lsaristo | 7:6e5cc24e1ce7 | 27 | DigitalOut pin16(p16); |
lsaristo | 7:6e5cc24e1ce7 | 28 | DigitalOut pin17(p17); |
lsaristo | 7:6e5cc24e1ce7 | 29 | DigitalOut pin18(p18); |
lsaristo | 7:6e5cc24e1ce7 | 30 | DigitalOut pin19(p19); |
lsaristo | 7:6e5cc24e1ce7 | 31 | DigitalOut pin20(p20); |
lsaristo | 7:6e5cc24e1ce7 | 32 | |
lsaristo | 9:3a0433c391cb | 33 | // |
lsaristo | 9:3a0433c391cb | 34 | // mBed onboard LEDs |
lsaristo | 9:3a0433c391cb | 35 | DigitalOut oled_1(LED1); |
lsaristo | 9:3a0433c391cb | 36 | DigitalOut oled_2(LED2); |
lsaristo | 9:3a0433c391cb | 37 | DigitalOut oled_3(LED3); |
lsaristo | 9:3a0433c391cb | 38 | DigitalOut oled_4(LED4); |
lsaristo | 9:3a0433c391cb | 39 | |
alecguertin | 15:14d4e7021125 | 40 | /* Local File System */ |
alecguertin | 15:14d4e7021125 | 41 | LocalFileSystem local("local"); |
lsaristo | 9:3a0433c391cb | 42 | |
alecguertin | 17:c72c092fcdf7 | 43 | /* Boolean for drawing/moving. */ |
alecguertin | 17:c72c092fcdf7 | 44 | int draw; |
alecguertin | 17:c72c092fcdf7 | 45 | |
John Wilkey |
5:01882c3de2dc | 46 | /** |
John Wilkey |
5:01882c3de2dc | 47 | * @brief Entry point. Main loop. |
John Wilkey |
5:01882c3de2dc | 48 | */ |
John Wilkey |
5:01882c3de2dc | 49 | int main() |
John Wilkey |
5:01882c3de2dc | 50 | { |
alecguertin | 17:c72c092fcdf7 | 51 | FILE *ps_file; |
alecguertin | 17:c72c092fcdf7 | 52 | int instbuflen = 250; |
alecguertin | 17:c72c092fcdf7 | 53 | char instbuf[instbuflen]; |
alecguertin | 17:c72c092fcdf7 | 54 | |
lsaristo | 9:3a0433c391cb | 55 | // |
lsaristo | 9:3a0433c391cb | 56 | // Basic setup information |
lsaristo | 10:94b068b2ce1d | 57 | start_button.mode(PullUp); |
lsaristo | 12:1aa6b8a74136 | 58 | |
lsaristo | 13:070846d87d4a | 59 | // |
lsaristo | 13:070846d87d4a | 60 | // Drawing environment calibration. |
lsaristo | 12:1aa6b8a74136 | 61 | pi.sensor_auto_calibrate(); |
alecguertin | 15:14d4e7021125 | 62 | //pi.backward(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 63 | float pos = 0; |
alecguertin | 15:14d4e7021125 | 64 | float over_thresh = 0.05; |
alecguertin | 15:14d4e7021125 | 65 | float correction = 0.2*DRIVE_SPEED; |
alecguertin | 15:14d4e7021125 | 66 | |
alecguertin | 15:14d4e7021125 | 67 | wait(1); |
alecguertin | 15:14d4e7021125 | 68 | |
alecguertin | 15:14d4e7021125 | 69 | do { |
alecguertin | 15:14d4e7021125 | 70 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 71 | if(pos > over_thresh) { |
alecguertin | 15:14d4e7021125 | 72 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 73 | pi.left_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 74 | } else if(pos < -over_thresh) { |
alecguertin | 15:14d4e7021125 | 75 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 76 | pi.right_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 77 | } else { |
alecguertin | 15:14d4e7021125 | 78 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 79 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 80 | } |
alecguertin | 15:14d4e7021125 | 81 | /* |
alecguertin | 15:14d4e7021125 | 82 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 83 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 84 | pi.printf("P: %f", pos); |
alecguertin | 15:14d4e7021125 | 85 | */ |
alecguertin | 17:c72c092fcdf7 | 86 | } while (pos != -1 && pos <= 0.3); |
alecguertin | 15:14d4e7021125 | 87 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 88 | wait(1); |
alecguertin | 15:14d4e7021125 | 89 | if (pos != -1) { |
alecguertin | 15:14d4e7021125 | 90 | timer.start(); |
alecguertin | 15:14d4e7021125 | 91 | pi.forward(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 92 | } else { |
alecguertin | 15:14d4e7021125 | 93 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 94 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 95 | pi.printf("LP: %f",pos); |
alecguertin | 15:14d4e7021125 | 96 | return 1; |
alecguertin | 15:14d4e7021125 | 97 | } |
alecguertin | 15:14d4e7021125 | 98 | |
alecguertin | 15:14d4e7021125 | 99 | wait(1); |
lsaristo | 12:1aa6b8a74136 | 100 | |
lsaristo | 12:1aa6b8a74136 | 101 | do { |
lsaristo | 12:1aa6b8a74136 | 102 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 103 | if(pos > over_thresh) { |
lsaristo | 13:070846d87d4a | 104 | pi.right_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 105 | pi.left_motor(DRIVE_SPEED-correction); |
lsaristo | 13:070846d87d4a | 106 | } else if(pos < -over_thresh) { |
lsaristo | 13:070846d87d4a | 107 | pi.left_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 108 | pi.right_motor(DRIVE_SPEED-correction); |
lsaristo | 13:070846d87d4a | 109 | } else { |
alecguertin | 15:14d4e7021125 | 110 | pi.right_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 111 | pi.left_motor(DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 112 | } |
alecguertin | 15:14d4e7021125 | 113 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 114 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 115 | pi.printf("Pos: %f", pos); |
alecguertin | 15:14d4e7021125 | 116 | } while(pos != -1 && pos <= 0.3); |
alecguertin | 15:14d4e7021125 | 117 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 118 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 119 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 120 | timer.stop(); |
alecguertin | 15:14d4e7021125 | 121 | pi.printf("T: %d", timer.read_ms()); |
alecguertin | 15:14d4e7021125 | 122 | } else { |
alecguertin | 15:14d4e7021125 | 123 | pi.cls(); |
alecguertin | 15:14d4e7021125 | 124 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 125 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 126 | return 1; |
alecguertin | 15:14d4e7021125 | 127 | } |
alecguertin | 15:14d4e7021125 | 128 | pi.right(TURN_SPEED); |
alecguertin | 15:14d4e7021125 | 129 | wait(0.5); |
alecguertin | 15:14d4e7021125 | 130 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 131 | do { |
alecguertin | 15:14d4e7021125 | 132 | pos = pi.line_position(); |
alecguertin | 15:14d4e7021125 | 133 | if(pos > over_thresh) { |
alecguertin | 15:14d4e7021125 | 134 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 135 | pi.left_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 136 | } else if(pos < -over_thresh) { |
alecguertin | 15:14d4e7021125 | 137 | pi.left_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 138 | pi.right_motor(-DRIVE_SPEED+correction); |
alecguertin | 15:14d4e7021125 | 139 | } else { |
alecguertin | 15:14d4e7021125 | 140 | pi.right_motor(-DRIVE_SPEED); |
alecguertin | 15:14d4e7021125 | 141 | pi.left_motor(-DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 142 | } |
lsaristo | 12:1aa6b8a74136 | 143 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 144 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 145 | pi.printf("P: %f", pos); |
alecguertin | 15:14d4e7021125 | 146 | } while (pos != -1 && pos > -0.3); |
alecguertin | 15:14d4e7021125 | 147 | pi.stop(); |
alecguertin | 15:14d4e7021125 | 148 | if(pos != -1) { |
alecguertin | 15:14d4e7021125 | 149 | oled_1 = 1; |
alecguertin | 15:14d4e7021125 | 150 | timer.stop(); |
alecguertin | 15:14d4e7021125 | 151 | pi.printf("T: %d", timer.read_ms()); |
lsaristo | 12:1aa6b8a74136 | 152 | } else { |
lsaristo | 12:1aa6b8a74136 | 153 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 154 | pi.locate(0,0); |
alecguertin | 15:14d4e7021125 | 155 | pi.printf("lP:%f", pos); |
alecguertin | 15:14d4e7021125 | 156 | return 1; |
lsaristo | 12:1aa6b8a74136 | 157 | } |
John Wilkey |
6:00b7198f0b51 | 158 | |
lsaristo | 12:1aa6b8a74136 | 159 | while(pi.line_position() == 1); |
lsaristo | 12:1aa6b8a74136 | 160 | do { |
lsaristo | 12:1aa6b8a74136 | 161 | pos = pi.line_position(); |
lsaristo | 13:070846d87d4a | 162 | if(pos > over_thresh) { |
lsaristo | 13:070846d87d4a | 163 | pi.right_motor(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 164 | pi.left_motor(DRIVE_SPEED - correction); |
lsaristo | 13:070846d87d4a | 165 | } else if(pos < -over_thresh) { |
lsaristo | 13:070846d87d4a | 166 | pi.left_motor(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 167 | pi.right_motor(DRIVE_SPEED - correction); |
lsaristo | 13:070846d87d4a | 168 | } else { |
lsaristo | 13:070846d87d4a | 169 | pi.forward(DRIVE_SPEED); |
lsaristo | 13:070846d87d4a | 170 | } |
lsaristo | 12:1aa6b8a74136 | 171 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 172 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 173 | pi.printf("Pos: %f", pos); |
lsaristo | 12:1aa6b8a74136 | 174 | } while(pos != -1 && pos != 1); |
lsaristo | 12:1aa6b8a74136 | 175 | if(pos == 1) { |
lsaristo | 12:1aa6b8a74136 | 176 | oled_1 = 1; |
lsaristo | 12:1aa6b8a74136 | 177 | timer.stop(); |
lsaristo | 12:1aa6b8a74136 | 178 | pi.stop(); |
lsaristo | 12:1aa6b8a74136 | 179 | } else { |
lsaristo | 12:1aa6b8a74136 | 180 | pi.stop(); |
lsaristo | 12:1aa6b8a74136 | 181 | pi.cls(); |
lsaristo | 12:1aa6b8a74136 | 182 | pi.locate(0,0); |
lsaristo | 12:1aa6b8a74136 | 183 | pi.printf("LP:%f", pos); |
lsaristo | 12:1aa6b8a74136 | 184 | while(1); |
lsaristo | 12:1aa6b8a74136 | 185 | } |
lsaristo | 14:41fa8b95a9ab | 186 | // If we got here, calibration is complete. |
lsaristo | 12:1aa6b8a74136 | 187 | |
John Wilkey |
6:00b7198f0b51 | 188 | // |
lsaristo | 9:3a0433c391cb | 189 | // Main program loop. |
lsaristo | 12:1aa6b8a74136 | 190 | // robot_loop(); |
alecguertin | 17:c72c092fcdf7 | 191 | size_t bytes_read = 0; |
alecguertin | 18:eab7b0e89398 | 192 | int err, x, y, last_x, last_y, delta_x, delta_y; |
alecguertin | 17:c72c092fcdf7 | 193 | int offset = 0; |
alecguertin | 17:c72c092fcdf7 | 194 | char *cur, *next; |
alecguertin | 18:eab7b0e89398 | 195 | float angle, theta; |
alecguertin | 18:eab7b0e89398 | 196 | angle = 0; |
alecguertin | 18:eab7b0e89398 | 197 | theta = 0; |
alecguertin | 15:14d4e7021125 | 198 | ps_file = fopen("/local/test.ps", "r"); |
alecguertin | 17:c72c092fcdf7 | 199 | /* PS parsing loop. */ |
alecguertin | 17:c72c092fcdf7 | 200 | while (1) { |
alecguertin | 17:c72c092fcdf7 | 201 | memset(instbuf+offset, 0, instbuflen-offset); |
alecguertin | 17:c72c092fcdf7 | 202 | bytes_read = fread(instbuf+offset, sizeof(char), instbuflen-1-offset, ps_file); |
alecguertin | 17:c72c092fcdf7 | 203 | if (bytes_read == 0) { |
alecguertin | 17:c72c092fcdf7 | 204 | break; |
alecguertin | 17:c72c092fcdf7 | 205 | } |
alecguertin | 17:c72c092fcdf7 | 206 | cur = instbuf; |
alecguertin | 17:c72c092fcdf7 | 207 | while (cur[0] != '\0') { |
alecguertin | 17:c72c092fcdf7 | 208 | err = retrieve_inst(instbuf, &x, &y, &draw); |
alecguertin | 18:eab7b0e89398 | 209 | delta_x = x-last_x; |
alecguertin | 18:eab7b0e89398 | 210 | delta_y = y-last_y; |
alecguertin | 18:eab7b0e89398 | 211 | theta = tan(delta_x/delta_y); |
alecguertin | 18:eab7b0e89398 | 212 | theta *= 57.2957795; |
alecguertin | 18:eab7b0e89398 | 213 | delta_a = theta-angle; |
alecguertin | 17:c72c092fcdf7 | 214 | last_x = x; |
alecguertin | 17:c72c092fcdf7 | 215 | last_y = y; |
alecguertin | 17:c72c092fcdf7 | 216 | next = strchr(cur, '\n'); |
alecguertin | 17:c72c092fcdf7 | 217 | if (next == NULL) { |
alecguertin | 17:c72c092fcdf7 | 218 | break; |
alecguertin | 17:c72c092fcdf7 | 219 | } |
alecguertin | 17:c72c092fcdf7 | 220 | cur = next+1; |
alecguertin | 17:c72c092fcdf7 | 221 | } |
alecguertin | 17:c72c092fcdf7 | 222 | offset = instbuf+instbuflen-cur; |
alecguertin | 17:c72c092fcdf7 | 223 | memcpy(instbuf, cur, offset); |
alecguertin | 15:14d4e7021125 | 224 | } |
lsaristo | 9:3a0433c391cb | 225 | // |
lsaristo | 9:3a0433c391cb | 226 | // We should never reach this point! |
alecguertin | 18:eab7b0e89398 | 227 | // |
alecguertin | 18:eab7b0e89398 | 228 | // Yes, we should... |
alecguertin | 15:14d4e7021125 | 229 | return 0; |
John Wilkey |
5:01882c3de2dc | 230 | } |
lsaristo | 8:12d780f7443e | 231 | |
alecguertin | 17:c72c092fcdf7 | 232 | int retrieve_inst(char *buf, int *x, int *y, int *draw) |
alecguertin | 17:c72c092fcdf7 | 233 | { |
alecguertin | 17:c72c092fcdf7 | 234 | int matches; |
alecguertin | 17:c72c092fcdf7 | 235 | char *srch; |
alecguertin | 17:c72c092fcdf7 | 236 | matches = sscanf(buf, "%d %d", x, y); |
alecguertin | 17:c72c092fcdf7 | 237 | if (matches != 2) { |
alecguertin | 17:c72c092fcdf7 | 238 | return 0; |
alecguertin | 17:c72c092fcdf7 | 239 | } |
alecguertin | 17:c72c092fcdf7 | 240 | srch = strchr(buf, ' '); |
alecguertin | 17:c72c092fcdf7 | 241 | srch++; |
alecguertin | 17:c72c092fcdf7 | 242 | srch = strchr(buf, ' '); |
alecguertin | 17:c72c092fcdf7 | 243 | srch++; |
alecguertin | 17:c72c092fcdf7 | 244 | if (srch[0] == 'm') { |
alecguertin | 17:c72c092fcdf7 | 245 | *draw = 0; |
alecguertin | 17:c72c092fcdf7 | 246 | } else if (srch[0] == 'd') { |
alecguertin | 17:c72c092fcdf7 | 247 | *draw = 1; |
alecguertin | 17:c72c092fcdf7 | 248 | } else { |
alecguertin | 17:c72c092fcdf7 | 249 | return 0; |
alecguertin | 17:c72c092fcdf7 | 250 | } |
alecguertin | 17:c72c092fcdf7 | 251 | return 1; |
alecguertin | 17:c72c092fcdf7 | 252 | } |
alecguertin | 17:c72c092fcdf7 | 253 | |
lsaristo | 9:3a0433c391cb | 254 | int forward(int amt) |
lsaristo | 8:12d780f7443e | 255 | { |
lsaristo | 12:1aa6b8a74136 | 256 | Timer t; |
lsaristo | 12:1aa6b8a74136 | 257 | t.start(); |
lsaristo | 10:94b068b2ce1d | 258 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 259 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 260 | pi.printf("Fwd %d", amt); |
lsaristo | 9:3a0433c391cb | 261 | pi.forward(DRIVE_SPEED); |
lsaristo | 12:1aa6b8a74136 | 262 | while(t.read_ms() < amt*DRIVE_RATE*1000); |
lsaristo | 12:1aa6b8a74136 | 263 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 264 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 265 | pi.stop(); |
lsaristo | 8:12d780f7443e | 266 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 267 | } |
lsaristo | 8:12d780f7443e | 268 | |
lsaristo | 9:3a0433c391cb | 269 | int backward(int amt) |
lsaristo | 8:12d780f7443e | 270 | { |
lsaristo | 12:1aa6b8a74136 | 271 | Timer t; |
lsaristo | 10:94b068b2ce1d | 272 | oled_3 = 1; |
lsaristo | 9:3a0433c391cb | 273 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 274 | pi.printf("Back %d", amt); |
lsaristo | 9:3a0433c391cb | 275 | pi.backward(DRIVE_SPEED); |
lsaristo | 12:1aa6b8a74136 | 276 | t.start(); |
lsaristo | 12:1aa6b8a74136 | 277 | while(t.read_ms() < amt*DRIVE_RATE*1000); |
lsaristo | 12:1aa6b8a74136 | 278 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 279 | oled_3 = 0; |
lsaristo | 12:1aa6b8a74136 | 280 | pi.stop(); |
lsaristo | 8:12d780f7443e | 281 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 282 | } |
lsaristo | 8:12d780f7443e | 283 | |
lsaristo | 8:12d780f7443e | 284 | int right(float deg) |
lsaristo | 8:12d780f7443e | 285 | { |
lsaristo | 12:1aa6b8a74136 | 286 | Timer t; |
lsaristo | 10:94b068b2ce1d | 287 | oled_4 = 1; |
lsaristo | 9:3a0433c391cb | 288 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 289 | pi.printf("Right %f", deg); |
lsaristo | 8:12d780f7443e | 290 | pi.right(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 291 | t.start(); |
lsaristo | 12:1aa6b8a74136 | 292 | while(t.read_ms() < (deg/360)*1000); |
lsaristo | 12:1aa6b8a74136 | 293 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 294 | oled_4 = 0; |
lsaristo | 12:1aa6b8a74136 | 295 | pi.stop(); |
lsaristo | 8:12d780f7443e | 296 | return EXIT_SUCCESS; |
lsaristo | 8:12d780f7443e | 297 | } |
lsaristo | 8:12d780f7443e | 298 | |
lsaristo | 8:12d780f7443e | 299 | int left(float deg) |
lsaristo | 8:12d780f7443e | 300 | { |
lsaristo | 12:1aa6b8a74136 | 301 | Timer t; |
lsaristo | 10:94b068b2ce1d | 302 | oled_4 = 1; |
lsaristo | 10:94b068b2ce1d | 303 | oled_2 = 1; |
lsaristo | 9:3a0433c391cb | 304 | pi.locate(0,0); |
lsaristo | 9:3a0433c391cb | 305 | pi.printf("Left %f", deg); |
lsaristo | 8:12d780f7443e | 306 | pi.left(TURN_SPEED); |
lsaristo | 12:1aa6b8a74136 | 307 | t.start(); |
lsaristo | 12:1aa6b8a74136 | 308 | while(t.read_ms() < (deg/360)*1000); |
lsaristo | 12:1aa6b8a74136 | 309 | t.stop(); |
lsaristo | 10:94b068b2ce1d | 310 | oled_4 = 0; |
lsaristo | 10:94b068b2ce1d | 311 | oled_2 = 0; |
lsaristo | 12:1aa6b8a74136 | 312 | pi.stop(); |
lsaristo | 8:12d780f7443e | 313 | return EXIT_SUCCESS; |
lsaristo | 10:94b068b2ce1d | 314 | } |
lsaristo | 10:94b068b2ce1d | 315 | |
lsaristo | 10:94b068b2ce1d | 316 | void pen_down() |
lsaristo | 10:94b068b2ce1d | 317 | { |
lsaristo | 10:94b068b2ce1d | 318 | oled_1 = 1; |
lsaristo | 10:94b068b2ce1d | 319 | } |
lsaristo | 10:94b068b2ce1d | 320 | |
lsaristo | 10:94b068b2ce1d | 321 | void pen_up() |
lsaristo | 10:94b068b2ce1d | 322 | { |
lsaristo | 10:94b068b2ce1d | 323 | oled_1 = 0; |
lsaristo | 9:3a0433c391cb | 324 | } |