C++ Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmV7 by
dances.cpp
- Committer:
- jah128
- Date:
- 2016-03-11
- Revision:
- 2:c6986ee3c7c5
- Parent:
- 0:d6269d17c8cf
- Child:
- 5:3cdd1a37cdd7
File content as of revision 2:c6986ee3c7c5:
/* University of York Robotics Laboratory PsiSwarm Library: Dances Source File * * Library of simple predetermined movements * * File: dances.cpp * * (C) Dept. Electronics & Computer Science, University of York * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis * * PsiSwarm Library Version: 0.41 * * March 2016 * * */ #include "psiswarm.h" char vibrate_counter = 0; Timeout dances_timeout; ///Do a simple wiggle void vibrate(void) { if(vibrate_counter == 0)save_led_states(); if(vibrate_counter % 2 == 0) { set_leds(0xC7,0x00); turn(1.0); } else { set_leds(0x00,0xC7); turn(-1.0); } vibrate_counter++; if(vibrate_counter < 14) { float wiggle_timeout_period = 0.06; //Move less on first 'wiggle' so that we stay in roughly the same place! if(vibrate_counter == 0) wiggle_timeout_period = 0.03; dances_timeout.attach(vibrate, wiggle_timeout_period); } else { vibrate_counter = 0; brake(); restore_led_states(); } }