Weston and Ivan / Mbed 2 deprecated EW202FP_Turn

the car will go right after a third of the time and then go left.

Dependencies:   mbed Tach ContinuousServo

main.cpp@0:86beccf9bdc8, 2019-04-18 (annotated)

Committer:
m211002
Date:
Thu Apr 18 15:41:30 2019 +0000
Revision:
0:86beccf9bdc8
Turn Subsystem: car turns left or right

Who changed what in which revision?

UserRevisionLine numberNew contents of line
m211002 0:86beccf9bdc8 1 #include "mbed.h"
m211002 0:86beccf9bdc8 2 #include "ContinuousServo.h"
m211002 0:86beccf9bdc8 3 #include "Tach.h"
m211002 0:86beccf9bdc8 4 Serial pc(USBTX,USBRX);
m211002 0:86beccf9bdc8 5
m211002 0:86beccf9bdc8 6 //sonar sensor
m211002 0:86beccf9bdc8 7 AnalogIn sonar(p19); //range sensor 9.8mV/inch
m211002 0:86beccf9bdc8 8 //servo
m211002 0:86beccf9bdc8 9 ContinuousServo left(p23);
m211002 0:86beccf9bdc8 10 ContinuousServo right(p26);
m211002 0:86beccf9bdc8 11 //encoders
m211002 0:86beccf9bdc8 12 Tach tLeft(p17,64);
m211002 0:86beccf9bdc8 13 Tach tRight(p13,64);
m211002 0:86beccf9bdc8 14 int main()
m211002 0:86beccf9bdc8 15 {
m211002 0:86beccf9bdc8 16 while(1) {
m211002 0:86beccf9bdc8 17 float var1;
m211002 0:86beccf9bdc8 18 int num_iterations;
m211002 0:86beccf9bdc8 19 int i=1;
m211002 0:86beccf9bdc8 20
m211002 0:86beccf9bdc8 21 pc.scanf("%d",&num_iterations);//reads in values from the Matlab
m211002 0:86beccf9bdc8 22 while(i<=num_iterations) {
m211002 0:86beccf9bdc8 23 i++;
m211002 0:86beccf9bdc8 24 left.speed(.25);
m211002 0:86beccf9bdc8 25 right.speed(-0.25);
m211002 0:86beccf9bdc8 26 var1=num_iterations/3;
m211002 0:86beccf9bdc8 27
m211002 0:86beccf9bdc8 28 if(i==var1) {
m211002 0:86beccf9bdc8 29 left.speed(.25);
m211002 0:86beccf9bdc8 30 right.speed(.25);
m211002 0:86beccf9bdc8 31 wait(0.9);
m211002 0:86beccf9bdc8 32 }
m211002 0:86beccf9bdc8 33 if(i==var1*2) {
m211002 0:86beccf9bdc8 34 left.speed(-0.25);
m211002 0:86beccf9bdc8 35 right.speed(-0.25);
m211002 0:86beccf9bdc8 36 wait(0.9);
m211002 0:86beccf9bdc8 37 }
m211002 0:86beccf9bdc8 38 wait(0.1);
m211002 0:86beccf9bdc8 39 pc.printf("%d\n",i);//mbed send out float values for Matlab
m211002 0:86beccf9bdc8 40 }
m211002 0:86beccf9bdc8 41 left.stop();
m211002 0:86beccf9bdc8 42 right.stop();
m211002 0:86beccf9bdc8 43 }
m211002 0:86beccf9bdc8 44 }
m211002 0:86beccf9bdc8 45
m211002 0:86beccf9bdc8 46