Uses 2 HC-SR04 ultrasonic modules to steer the RenBuggy away from obstacles. Renishaw Team page fork.
Dependencies: mbed
Fork of RenBuggy_Ultrasonic by
main.cpp@0:fbceffb594b6, 2016-07-14 (annotated)
- Committer:
- RenBuggy
- Date:
- Thu Jul 14 12:58:48 2016 +0000
- Revision:
- 0:fbceffb594b6
- Child:
- 1:80c2ef16a42f
.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
RenBuggy | 0:fbceffb594b6 | 1 | #include "mbed.h" |
RenBuggy | 0:fbceffb594b6 | 2 | #include "ultrasonic_buggy.h" |
RenBuggy | 0:fbceffb594b6 | 3 | //#include "USBSerial.h" |
RenBuggy | 0:fbceffb594b6 | 4 | |
RenBuggy | 0:fbceffb594b6 | 5 | //USBSerial serial; |
RenBuggy | 0:fbceffb594b6 | 6 | |
RenBuggy | 0:fbceffb594b6 | 7 | |
RenBuggy | 0:fbceffb594b6 | 8 | int main(){ |
RenBuggy | 0:fbceffb594b6 | 9 | |
RenBuggy | 0:fbceffb594b6 | 10 | float left_distance; |
RenBuggy | 0:fbceffb594b6 | 11 | float right_distance; |
RenBuggy | 0:fbceffb594b6 | 12 | stop(); |
RenBuggy | 0:fbceffb594b6 | 13 | wait(5); |
RenBuggy | 0:fbceffb594b6 | 14 | //serial.printf("PROGRAM START\n\r"); |
RenBuggy | 0:fbceffb594b6 | 15 | while(1){ |
RenBuggy | 0:fbceffb594b6 | 16 | |
RenBuggy | 0:fbceffb594b6 | 17 | |
RenBuggy | 0:fbceffb594b6 | 18 | //wait(1); |
RenBuggy | 0:fbceffb594b6 | 19 | |
RenBuggy | 0:fbceffb594b6 | 20 | left_distance = getDistance_l(); |
RenBuggy | 0:fbceffb594b6 | 21 | right_distance = getDistance_r(); |
RenBuggy | 0:fbceffb594b6 | 22 | |
RenBuggy | 0:fbceffb594b6 | 23 | //if((left_distance > 0.3) && (right_distance > 0.3)){ |
RenBuggy | 0:fbceffb594b6 | 24 | //serial.printf("left distance = %f right distance = %f\n\r", left_distance, right_distance); |
RenBuggy | 0:fbceffb594b6 | 25 | /* if(left_distance > right_distance){ |
RenBuggy | 0:fbceffb594b6 | 26 | left(0.1); |
RenBuggy | 0:fbceffb594b6 | 27 | } |
RenBuggy | 0:fbceffb594b6 | 28 | else if(right_distance > left_distance){ |
RenBuggy | 0:fbceffb594b6 | 29 | right(0.1); |
RenBuggy | 0:fbceffb594b6 | 30 | } |
RenBuggy | 0:fbceffb594b6 | 31 | } |
RenBuggy | 0:fbceffb594b6 | 32 | |
RenBuggy | 0:fbceffb594b6 | 33 | else{ |
RenBuggy | 0:fbceffb594b6 | 34 | right(3); |
RenBuggy | 0:fbceffb594b6 | 35 | }*/ |
RenBuggy | 0:fbceffb594b6 | 36 | |
RenBuggy | 0:fbceffb594b6 | 37 | } |
RenBuggy | 0:fbceffb594b6 | 38 | } |
RenBuggy | 0:fbceffb594b6 | 39 |