NXP Group 13
/
Car3
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: camera mbed tsi_sensor
Fork of
Car2
by 
Zach Matthews
Diff: main.cpp
- Revision:
- 13:9175be9c2b9e
- Parent:
- 12:4ccf304800fe
- Child:
- 14:c6f0a3c4e222
--- a/main.cpp Tue Mar 21 01:42:19 2017 +0000
+++ b/main.cpp Wed Mar 22 20:19:03 2017 +0000
@@ -1,5 +1,4 @@
#include "mbed.h"
-#include "Servo.h"
#include "Camera.h"
#define STRAIGHT 0.00095f
#define FULLRIGHT 0.0013f
@@ -8,7 +7,7 @@
#define MAX_TURN_RATIO 0.7
#define MIN_SPEED 0.1
#define MAX_SPEED 0.6
-#define TURN_TIME 100
+#define TURN_TIME 50
PwmOut servo(PTE20);
PwmOut motor_left(PTA5);
@@ -17,7 +16,6 @@
DigitalOut DIR_R(PTA4);
Serial pc(USBTX, USBRX);
Camera cam(PTE23, PTE21, PTB3);
-
int turnCounter = 0;
float wheelPos = STRAIGHT;
@@ -50,7 +48,7 @@
}
float averagePos = 0;
- if (numDarks == 0) {
+ if (numDarks == 0 && turnCounter >= (TURN_TIME / 2)) {
wheelPos = STRAIGHT;
}
@@ -88,7 +86,6 @@
}
int main() {
- //timer.start();
motor_left.period_us(50);
motor_right.period_us(50);
DIR_R = 1;