EdgeBotix
/
Robot
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Revision 3:3e3314102e56, committed 2014-10-12
- Comitter:
- Throwbot
- Date:
- Sun Oct 12 23:27:33 2014 +0000
- Parent:
- 2:37a19a9e5f2c
- Child:
- 4:0eeea5f05e28
- Commit message:
- Ebot demo working
Changed in this revision
| robot.cpp | Show annotated file Show diff for this revision Revisions of this file |
| robot.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/robot.cpp Sun Oct 12 13:33:06 2014 +0000
+++ b/robot.cpp Sun Oct 12 23:27:33 2014 +0000
@@ -71,6 +71,8 @@
int Encoder_y=0;
int dtheta=0;
int software_interuupt;
+int Rmotor_speed=0;
+int Lmotor_speed=0;
int r_time ()
{
int mseconds = (int)time(NULL)+(int)t.read_ms();
@@ -84,10 +86,17 @@
myled = 0;
wait_ms(500);
bt.baud(BaudRate_bt);
- myled = 1;
accelgyro.initialize();
t.start();
- SRX = 0;
+ SRX = 1;
+ wait_us(30);
+ SRX=0;
+ wait_ms(300);
+ SRX = 1;
+ wait_us(30);
+ SRX=0;
+ wait(1);
+ myled = 1;
}
//*********************************MOTORS*********************************//
@@ -245,6 +254,12 @@
dx=delta_x+dx;
dy=delta_y+dy;
dtheta=delta_thetha*180/M_PI;
+ //bt.lock();
+ //bt.printf(">>D;%0.2lf;%0.2lf;%0.2lf;%0.2lf;%d;%d;%d;\r\n",
+ // left_current_reading,right_current_reading,left_change ,right_change,\
+ // dx,dy,\
+ // dtheta);
+ //bt.unlock();
stdio_mutex.unlock();
Thread:: wait(50);
}
--- a/robot.h Sun Oct 12 13:33:06 2014 +0000
+++ b/robot.h Sun Oct 12 23:27:33 2014 +0000
@@ -114,6 +114,8 @@
extern AnalogIn uB;
extern int dy;
extern int dx;
+extern int Rmotor_speed;
+extern int Lmotor_speed;
int r_time ();
void motor_control(int Lspeed, int Rspeed); //Input speed for motors. Integer between 0 and 100
void stop(); //stop motors