Renishaw / RenBuggy_Figure_Of_Eight Featured

Created an example programme that uses the RenBuggy_Servo library. RenBuggy Figure Of Eight

Dependencies:   RenBuggy_Timed

main.cpp@1:da2f06538364, 2014-05-08 (annotated)

Committer:
jf1452
Date:
Thu May 08 07:17:56 2014 +0000
Revision:
1:da2f06538364
Parent:
0:794a1188e0e3 
RenBuggy Figure Of Eight

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Markatron 0:794a1188e0e3 1 /*******************************************************************************
jf1452 1:da2f06538364 2 * Used to drive RenBuggy with 2 wheels for a specified amount of time. *
jf1452 1:da2f06538364 3 * Copyright (c) 2014 Renishaw plc *
jf1452 1:da2f06538364 4 * *
jf1452 1:da2f06538364 5 * Permission is hereby granted, free of charge, to any person obtaining a copy *
jf1452 1:da2f06538364 6 * of this software and associated documentation files (the "Software"), to deal*
jf1452 1:da2f06538364 7 * in the Software without restriction, including without limitation the rights *
jf1452 1:da2f06538364 8 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
jf1452 1:da2f06538364 9 * copies of the Software, and to permit persons to whom the Software is *
jf1452 1:da2f06538364 10 * furnished to do so, subject to the following conditions: *
jf1452 1:da2f06538364 11 * *
jf1452 1:da2f06538364 12 * The above copyright notice and this permission notice shall be included in *
jf1452 1:da2f06538364 13 * all copies or substantial portions of the Software. *
jf1452 1:da2f06538364 14 * *
jf1452 1:da2f06538364 15 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
jf1452 1:da2f06538364 16 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
jf1452 1:da2f06538364 17 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
jf1452 1:da2f06538364 18 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
jf1452 1:da2f06538364 19 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
jf1452 1:da2f06538364 20 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
jf1452 1:da2f06538364 21 * THE SOFTWARE. *
jf1452 1:da2f06538364 22 * *
jf1452 1:da2f06538364 23 * RenBuggy_Timed_Program *
jf1452 1:da2f06538364 24 * *
jf1452 1:da2f06538364 25 * V1.0 8/5/2014 Jon Fuge *
Markatron 0:794a1188e0e3 26 *******************************************************************************/
Markatron 0:794a1188e0e3 27
jf1452 1:da2f06538364 28 // We are using the buggy with no wheel encoders so we need to use the timed
jf1452 1:da2f06538364 29 // library.
Markatron 0:794a1188e0e3 30 #include "RenBuggyTimed.h"
Markatron 0:794a1188e0e3 31
jf1452 1:da2f06538364 32 RenBuggy myBuggy(p5, p6, p8, p7); // Configure control pins for the buggy
jf1452 1:da2f06538364 33
jf1452 1:da2f06538364 34 // For this buggy, we only need to use the motor control pins p5 & p6.
jf1452 1:da2f06538364 35 // p5 controls the left motor
jf1452 1:da2f06538364 36 // p6 controls the right motor
Markatron 0:794a1188e0e3 37
Markatron 0:794a1188e0e3 38 int main() {
jf1452 1:da2f06538364 39 int iCircleTime;
jf1452 1:da2f06538364 40 int iForwardTime;
Markatron 0:794a1188e0e3 41
jf1452 1:da2f06538364 42 iCircleTime = 22; // This is the time in seconds to do one full circle
jf1452 1:da2f06538364 43 iForwardTime = 1; // This is the time to move forwards
jf1452 1:da2f06538364 44
jf1452 1:da2f06538364 45 myBuggy.stop();
jf1452 1:da2f06538364 46 myBuggy.left(iCircleTime);
jf1452 1:da2f06538364 47 myBuggy.forward(iForwardTime);
jf1452 1:da2f06538364 48 myBuggy.right(iCircleTime);
jf1452 1:da2f06538364 49 myBuggy.forward(iForwardTime);
jf1452 1:da2f06538364 50 myBuggy.stop();
Markatron 0:794a1188e0e3 51
Markatron 0:794a1188e0e3 52 return 0;
Markatron 0:794a1188e0e3 53 }