der Roboter
Library for using the xbee-compatible Bluetooth Bee Module on an m3pi.
Dependencies: SensoryTest
Fork of
btbee
by 
Nikolas Goldin
main.cpp@15:cc5b8a858c6e, 2014-05-21 (annotated)
- Committer:
- mmpeter
- Date:
- Wed May 21 12:20:43 2014 +0000
- Revision:
- 15:cc5b8a858c6e
- Parent:
- 14:7ddbd9f475ad
- Child:
- 16:2b437630e29e
k=-0.7, speed=0.5, correction for jumpy turns
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| mmpeter | 8:fd8a30a6923d | 1 | #include "mbed.h" |
| mmpeter | 8:fd8a30a6923d | 2 | #include "m3pi_ng.h" |
| mmpeter | 8:fd8a30a6923d | 3 | |
| mmpeter | 8:fd8a30a6923d | 4 | m3pi thinggy; |
| mmpeter | 8:fd8a30a6923d | 5 | |
| mmpeter | 8:fd8a30a6923d | 6 | |
| mmpeter | 8:fd8a30a6923d | 7 | int main() { |
| mmpeter | 8:fd8a30a6923d | 8 | |
| mmpeter | 15:cc5b8a858c6e | 9 | float speed = 0.5; |
| mmpeter | 11:45172e28ecb2 | 10 | float correction; |
| mmpeter | 15:cc5b8a858c6e | 11 | float k = -0.7; |
| mmpeter | 13:4016c362b0d5 | 12 | |
| mmpeter | 9:6ae4359b73df | 13 | |
| mmpeter | 9:6ae4359b73df | 14 | thinggy.locate(0,1); |
| mmpeter | 15:cc5b8a858c6e | 15 | thinggy.printf("HellzYa"); |
| mmpeter | 8:fd8a30a6923d | 16 | |
| mmpeter | 10:7ef481d28dcd | 17 | wait(1.0); |
| mmpeter | 8:fd8a30a6923d | 18 | |
| mmpeter | 8:fd8a30a6923d | 19 | thinggy.sensor_auto_calibrate(); |
| mmpeter | 8:fd8a30a6923d | 20 | while(1) { |
| mmpeter | 11:45172e28ecb2 | 21 | |
| mmpeter | 14:7ddbd9f475ad | 22 | |
| mmpeter | 8:fd8a30a6923d | 23 | // -1.0 is far left, 1.0 is far right, 0.0 in the middle |
| mmpeter | 11:45172e28ecb2 | 24 | float position = thinggy.line_position(); |
| mmpeter | 11:45172e28ecb2 | 25 | correction = k*(position); |
| mmpeter | 11:45172e28ecb2 | 26 | |
| mmpeter | 11:45172e28ecb2 | 27 | //speed limiting for right motor |
| mmpeter | 11:45172e28ecb2 | 28 | if(speed + correction > 1){ |
| mmpeter | 15:cc5b8a858c6e | 29 | thinggy.right_motor(0.6); |
| mmpeter | 15:cc5b8a858c6e | 30 | } |
| mmpeter | 15:cc5b8a858c6e | 31 | else if(speed + correction <= 0){ |
| mmpeter | 15:cc5b8a858c6e | 32 | thinggy.right_motor(0.1); |
| mmpeter | 11:45172e28ecb2 | 33 | } |
| mmpeter | 11:45172e28ecb2 | 34 | else{ |
| mmpeter | 11:45172e28ecb2 | 35 | thinggy.right_motor(speed+correction); |
| mmpeter | 11:45172e28ecb2 | 36 | } |
| mmpeter | 11:45172e28ecb2 | 37 | |
| mmpeter | 11:45172e28ecb2 | 38 | //speed limiting for left motor |
| mmpeter | 11:45172e28ecb2 | 39 | if(speed - correction > 1){ |
| mmpeter | 15:cc5b8a858c6e | 40 | thinggy.left_motor(0.6); |
| mmpeter | 15:cc5b8a858c6e | 41 | } |
| mmpeter | 15:cc5b8a858c6e | 42 | else if(speed - correction <= 0){ |
| mmpeter | 15:cc5b8a858c6e | 43 | thinggy.left_motor(0.1); |
| mmpeter | 11:45172e28ecb2 | 44 | } |
| mmpeter | 11:45172e28ecb2 | 45 | else{ |
| mmpeter | 10:7ef481d28dcd | 46 | thinggy.left_motor(speed-correction); |
| mmpeter | 11:45172e28ecb2 | 47 | } |
| mmpeter | 9:6ae4359b73df | 48 | |
| mmpeter | 11:45172e28ecb2 | 49 | |
| mmpeter | 13:4016c362b0d5 | 50 | |
| mmpeter | 13:4016c362b0d5 | 51 | |
| mmpeter | 11:45172e28ecb2 | 52 | } |
| mmpeter | 11:45172e28ecb2 | 53 | } |