Francisco Santos / Mbed 2 deprecated SRA_VFF

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Dependencies:   mbed Matrix

main.cpp@2:06b7789c7da0, 2019-11-24 (annotated)

Committer:
FJMS
Date:
Sun Nov 24 18:37:46 2019 +0000
Revision:
2:06b7789c7da0
Parent:
1:2716ea33958b 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
PedroMartins96 0:a7324f51348d 1 #include "mbed.h"
PedroMartins96 0:a7324f51348d 2 #include "Robot.h"
PedroMartins96 0:a7324f51348d 3 #include "Communication.h"
PedroMartins96 0:a7324f51348d 4
PedroMartins96 1:2716ea33958b 5 //Serial pc(SERIAL_TX, SERIAL_RX);
PedroMartins96 0:a7324f51348d 6 InterruptIn button(USER_BUTTON);
PedroMartins96 0:a7324f51348d 7
PedroMartins96 0:a7324f51348d 8 volatile bool mode=true;
PedroMartins96 1:2716ea33958b 9 float x1=20,y1=20; // Posição inicial do robo
PedroMartins96 1:2716ea33958b 10 float a1=0,b1=-1,c1=65; // Reta ax + by + c = 0
PedroMartins96 1:2716ea33958b 11 float x2=65,y2=60,phi2=-pi/2; // Pose arbitrária
FJMS 2:06b7789c7da0 12
FJMS 2:06b7789c7da0 13 int p[2] = {59, 43};
FJMS 2:06b7789c7da0 14 int p1[2] = {70, 17};
FJMS 2:06b7789c7da0 15 int p2[2] = {20, 46};
FJMS 2:06b7789c7da0 16 int p3[2] = {48, 66};
FJMS 2:06b7789c7da0 17 //int p4[2] = {200,200};
PedroMartins96 0:a7324f51348d 18
PedroMartins96 0:a7324f51348d 19 void pressed()
PedroMartins96 0:a7324f51348d 20 {
PedroMartins96 1:2716ea33958b 21 mode = !mode;
PedroMartins96 0:a7324f51348d 22 }
PedroMartins96 0:a7324f51348d 23
PedroMartins96 0:a7324f51348d 24 int main()
PedroMartins96 0:a7324f51348d 25 {
PedroMartins96 1:2716ea33958b 26 //pc.baud(9600);
PedroMartins96 0:a7324f51348d 27 button.fall(&pressed);
PedroMartins96 1:2716ea33958b 28 setSpeeds(0,0);
PedroMartins96 1:2716ea33958b 29 //wait(0.2);
PedroMartins96 1:2716ea33958b 30 mapa(80,80);
FJMS 2:06b7789c7da0 31 //cria_obj(117,84,p);
FJMS 2:06b7789c7da0 32 //cria_obj(20,30,p1);
FJMS 2:06b7789c7da0 33 // cria_obj(28,13,p2);
FJMS 2:06b7789c7da0 34 //cria_obj(25,12,p3);
PedroMartins96 0:a7324f51348d 35
PedroMartins96 1:2716ea33958b 36 //int_map(80, 80);
PedroMartins96 0:a7324f51348d 37 while(1) {
PedroMartins96 0:a7324f51348d 38 if (mode==true) {
PedroMartins96 0:a7324f51348d 39 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 40
PedroMartins96 1:2716ea33958b 41 }
PedroMartins96 1:2716ea33958b 42 else {
PedroMartins96 0:a7324f51348d 43 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 44
PedroMartins96 0:a7324f51348d 45 motion();
PedroMartins96 0:a7324f51348d 46 wait(1);
PedroMartins96 0:a7324f51348d 47
PedroMartins96 1:2716ea33958b 48 VFF();
PedroMartins96 1:2716ea33958b 49 //mode = true;
PedroMartins96 0:a7324f51348d 50 }
PedroMartins96 0:a7324f51348d 51 }
PedroMartins96 0:a7324f51348d 52 }