C++ Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmV7 by
dances.cpp@5:3cdd1a37cdd7, 2016-10-15 (annotated)
- Committer:
- jah128
- Date:
- Sat Oct 15 13:29:37 2016 +0000
- Revision:
- 5:3cdd1a37cdd7
- Parent:
- 2:c6986ee3c7c5
- Child:
- 6:b340a527add9
Initial commit of API Version 7 (fork from version 5)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jah128 | 0:d6269d17c8cf | 1 | /* University of York Robotics Laboratory PsiSwarm Library: Dances Source File |
jah128 | 0:d6269d17c8cf | 2 | * |
jah128 | 0:d6269d17c8cf | 3 | * Library of simple predetermined movements |
jah128 | 0:d6269d17c8cf | 4 | * |
jah128 | 0:d6269d17c8cf | 5 | * File: dances.cpp |
jah128 | 0:d6269d17c8cf | 6 | * |
jah128 | 0:d6269d17c8cf | 7 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 8 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 9 | * |
jah128 | 5:3cdd1a37cdd7 | 10 | * PsiSwarm Library Version: 0.7 |
jah128 | 0:d6269d17c8cf | 11 | * |
jah128 | 5:3cdd1a37cdd7 | 12 | * October 2016 |
jah128 | 0:d6269d17c8cf | 13 | * |
jah128 | 0:d6269d17c8cf | 14 | * |
jah128 | 0:d6269d17c8cf | 15 | */ |
jah128 | 0:d6269d17c8cf | 16 | |
jah128 | 0:d6269d17c8cf | 17 | |
jah128 | 0:d6269d17c8cf | 18 | #include "psiswarm.h" |
jah128 | 0:d6269d17c8cf | 19 | |
jah128 | 0:d6269d17c8cf | 20 | char vibrate_counter = 0; |
jah128 | 0:d6269d17c8cf | 21 | Timeout dances_timeout; |
jah128 | 0:d6269d17c8cf | 22 | |
jah128 | 0:d6269d17c8cf | 23 | ///Do a simple wiggle |
jah128 | 0:d6269d17c8cf | 24 | void vibrate(void) |
jah128 | 0:d6269d17c8cf | 25 | { |
jah128 | 0:d6269d17c8cf | 26 | if(vibrate_counter == 0)save_led_states(); |
jah128 | 0:d6269d17c8cf | 27 | if(vibrate_counter % 2 == 0) { |
jah128 | 0:d6269d17c8cf | 28 | set_leds(0xC7,0x00); |
jah128 | 0:d6269d17c8cf | 29 | turn(1.0); |
jah128 | 0:d6269d17c8cf | 30 | } else { |
jah128 | 0:d6269d17c8cf | 31 | set_leds(0x00,0xC7); |
jah128 | 0:d6269d17c8cf | 32 | turn(-1.0); |
jah128 | 0:d6269d17c8cf | 33 | } |
jah128 | 0:d6269d17c8cf | 34 | vibrate_counter++; |
jah128 | 0:d6269d17c8cf | 35 | |
jah128 | 0:d6269d17c8cf | 36 | if(vibrate_counter < 14) { |
jah128 | 0:d6269d17c8cf | 37 | float wiggle_timeout_period = 0.06; |
jah128 | 0:d6269d17c8cf | 38 | //Move less on first 'wiggle' so that we stay in roughly the same place! |
jah128 | 0:d6269d17c8cf | 39 | if(vibrate_counter == 0) wiggle_timeout_period = 0.03; |
jah128 | 0:d6269d17c8cf | 40 | dances_timeout.attach(vibrate, wiggle_timeout_period); |
jah128 | 0:d6269d17c8cf | 41 | } else { |
jah128 | 0:d6269d17c8cf | 42 | vibrate_counter = 0; |
jah128 | 0:d6269d17c8cf | 43 | brake(); |
jah128 | 0:d6269d17c8cf | 44 | restore_led_states(); |
jah128 | 0:d6269d17c8cf | 45 | } |
jah128 | 0:d6269d17c8cf | 46 | } |