MRJJ / Movement

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Dependents:   ROCO104_Buggy BuggyDesign

Movement.cpp@1:401bcbb58715, 2020-03-17 (annotated)

Committer:
Mikebob
Date:
Tue Mar 17 13:13:52 2020 +0000
Revision:
1:401bcbb58715
Parent:
0:0285394cacfa
Child:
2:878b6fd215d7
.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jakesmart 0:0285394cacfa 1 #include "mbed.h"
jakesmart 0:0285394cacfa 2 #include "motor.h"
jakesmart 0:0285394cacfa 3 #include "UltraSonic.h"
jakesmart 0:0285394cacfa 4 #include "clickers.h"
jakesmart 0:0285394cacfa 5
Mikebob 1:401bcbb58715 6 extern bool rStopped, fStopped;
Mikebob 1:401bcbb58715 7 extern Motor Wheel;
Mikebob 1:401bcbb58715 8 extern int HallState;
Mikebob 1:401bcbb58715 9 extern void dist();
Mikebob 1:401bcbb58715 10 extern Serial pc;
Mikebob 1:401bcbb58715 11 int i = 0;
jakesmart 0:0285394cacfa 12 void Direction (){
Mikebob 1:401bcbb58715 13 switch(HallState)
Mikebob 1:401bcbb58715 14 {
Mikebob 1:401bcbb58715 15 case 0:
Mikebob 1:401bcbb58715 16 if(fStopped == false){
Mikebob 1:401bcbb58715 17 dist();
Mikebob 1:401bcbb58715 18 if (i<1)
Mikebob 1:401bcbb58715 19 {
Mikebob 1:401bcbb58715 20 Wheel.Speed(1.0,1.0);//forward 100%
Mikebob 1:401bcbb58715 21 pc.printf("Do this once\n\r");
Mikebob 1:401bcbb58715 22 i++;
Mikebob 1:401bcbb58715 23 }
Mikebob 1:401bcbb58715 24
Mikebob 1:401bcbb58715 25 //FwdStop();
Mikebob 1:401bcbb58715 26 }
Mikebob 1:401bcbb58715 27 else if (fStopped == true)
Mikebob 1:401bcbb58715 28 HallState = 1;
Mikebob 1:401bcbb58715 29 break;
Mikebob 1:401bcbb58715 30 case 1:
Mikebob 1:401bcbb58715 31 if(fStopped == true && rStopped == false){
Mikebob 1:401bcbb58715 32 Wheel.Speed(-1.0,-1.0);//backward 100%
Mikebob 1:401bcbb58715 33 RevStop();
Mikebob 1:401bcbb58715 34 dist();
Mikebob 1:401bcbb58715 35 }
Mikebob 1:401bcbb58715 36 else if(fStopped == true && rStopped == true)
Mikebob 1:401bcbb58715 37 HallState = 2;
Mikebob 1:401bcbb58715 38 break;
Mikebob 1:401bcbb58715 39 case 2:
Mikebob 1:401bcbb58715 40 Wheel.Speed(1.0,-1.0);//Right 100%
Mikebob 1:401bcbb58715 41 wait_ms(500);
Mikebob 1:401bcbb58715 42 Wheel.Speed(1.0,1.0);//forward 100%
Mikebob 1:401bcbb58715 43 wait_ms(500);
Mikebob 1:401bcbb58715 44 Wheel.Speed(-1.0,1.0);//Left 100%
Mikebob 1:401bcbb58715 45 wait_ms(500);
Mikebob 1:401bcbb58715 46 Wheel.Stop();
Mikebob 1:401bcbb58715 47 HallState = 3;
Mikebob 1:401bcbb58715 48 break;
Mikebob 1:401bcbb58715 49 case 3:
Mikebob 1:401bcbb58715 50 {
Mikebob 1:401bcbb58715 51
Mikebob 1:401bcbb58715 52 }
Mikebob 1:401bcbb58715 53 }
jakesmart 0:0285394cacfa 54 }