Example program for the SeeedStudio Bot Shield, based on DigitalOut, PWM and AnalogIn pins.
Dependencies: SeeedShieldBot mbed
main.cpp@3:c05a838cb1f3, 2015-02-13 (annotated)
- Committer:
- screamer
- Date:
- Fri Feb 13 09:44:03 2015 +0000
- Revision:
- 3:c05a838cb1f3
- Parent:
- 2:67a73907e626
Update mbed library.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
screamer | 0:330533a0be99 | 1 | /* Copyright (c) 2010-2011 mbed.org, MIT License |
screamer | 0:330533a0be99 | 2 | * |
screamer | 0:330533a0be99 | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
screamer | 0:330533a0be99 | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
screamer | 0:330533a0be99 | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
screamer | 0:330533a0be99 | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
screamer | 0:330533a0be99 | 7 | * Software is furnished to do so, subject to the following conditions: |
screamer | 0:330533a0be99 | 8 | * |
screamer | 0:330533a0be99 | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
screamer | 0:330533a0be99 | 10 | * substantial portions of the Software. |
screamer | 0:330533a0be99 | 11 | * |
screamer | 0:330533a0be99 | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
screamer | 0:330533a0be99 | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
screamer | 0:330533a0be99 | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
screamer | 0:330533a0be99 | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
screamer | 0:330533a0be99 | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
screamer | 0:330533a0be99 | 17 | */ |
screamer | 0:330533a0be99 | 18 | |
screamer | 0:330533a0be99 | 19 | #include "mbed.h" |
screamer | 0:330533a0be99 | 20 | #include "SeeedStudioShieldBot.h" |
screamer | 0:330533a0be99 | 21 | |
screamer | 0:330533a0be99 | 22 | SeeedStudioShieldBot bot( |
screamer | 0:330533a0be99 | 23 | D5, D6, D7, // Left motor pins |
screamer | 1:d3c3ab54ee08 | 24 | D8, D9, D10, // Right motor pins |
screamer | 0:330533a0be99 | 25 | A0, A1, A2, A3, D4 // Sensors pins |
screamer | 0:330533a0be99 | 26 | ); |
screamer | 0:330533a0be99 | 27 | float speed = 0; |
screamer | 0:330533a0be99 | 28 | |
screamer | 0:330533a0be99 | 29 | int main() { |
screamer | 0:330533a0be99 | 30 | bot.enable_right_motor(); |
screamer | 0:330533a0be99 | 31 | bot.enable_left_motor(); |
screamer | 0:330533a0be99 | 32 | |
screamer | 0:330533a0be99 | 33 | while(1) { |
screamer | 0:330533a0be99 | 34 | bot.stopAll(); |
screamer | 0:330533a0be99 | 35 | wait(1); |
screamer | 0:330533a0be99 | 36 | |
screamer | 0:330533a0be99 | 37 | speed = 0; |
screamer | 0:330533a0be99 | 38 | while (speed < 1) { |
screamer | 2:67a73907e626 | 39 | speed += 0.1f; |
screamer | 0:330533a0be99 | 40 | bot.forward(speed); |
screamer | 0:330533a0be99 | 41 | wait(1); |
screamer | 0:330533a0be99 | 42 | }; |
screamer | 0:330533a0be99 | 43 | bot.stopAll(); |
screamer | 0:330533a0be99 | 44 | wait(1); |
screamer | 0:330533a0be99 | 45 | |
screamer | 0:330533a0be99 | 46 | bot.turn_left(speed); |
screamer | 0:330533a0be99 | 47 | wait(1); |
screamer | 0:330533a0be99 | 48 | bot.right(speed); |
screamer | 0:330533a0be99 | 49 | wait(1); |
screamer | 0:330533a0be99 | 50 | bot.stopAll(); |
screamer | 0:330533a0be99 | 51 | wait(1); |
screamer | 0:330533a0be99 | 52 | |
screamer | 0:330533a0be99 | 53 | bot.turn_right(speed); |
screamer | 0:330533a0be99 | 54 | wait(1); |
screamer | 0:330533a0be99 | 55 | bot.left(speed); |
screamer | 0:330533a0be99 | 56 | wait(1); |
screamer | 0:330533a0be99 | 57 | bot.stopAll(); |
screamer | 0:330533a0be99 | 58 | wait(1); |
screamer | 0:330533a0be99 | 59 | } |
screamer | 0:330533a0be99 | 60 | } |