Francisco Santos / Mbed 2 deprecated SRA_VFF

pepe

Dependencies:   mbed Matrix

main.cpp@1:2716ea33958b, 2019-05-22 (annotated)

Committer:
PedroMartins96
Date:
Wed May 22 09:51:53 2019 +0000
Revision:
1:2716ea33958b
Parent:
0:a7324f51348d
Child:
2:06b7789c7da0
123456479876954;

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
PedroMartins96 1:2716ea33958b 12 int p[2] = {100,100};
PedroMartins96 1:2716ea33958b 13 int p1[2] = {140, 80};
PedroMartins96 1:2716ea33958b 14 int p2[2] = {140, 35};
PedroMartins96 1:2716ea33958b 15 int p3[2] = {140, 130};
PedroMartins96 0:a7324f51348d 16
PedroMartins96 0:a7324f51348d 17 void pressed()
PedroMartins96 0:a7324f51348d 18 {
PedroMartins96 1:2716ea33958b 19 mode = !mode;
PedroMartins96 0:a7324f51348d 20 }
PedroMartins96 0:a7324f51348d 21
PedroMartins96 0:a7324f51348d 22 int main()
PedroMartins96 0:a7324f51348d 23 {
PedroMartins96 1:2716ea33958b 24 //pc.baud(9600);
PedroMartins96 0:a7324f51348d 25 button.fall(&pressed);
PedroMartins96 1:2716ea33958b 26 setSpeeds(0,0);
PedroMartins96 1:2716ea33958b 27 //wait(0.2);
PedroMartins96 1:2716ea33958b 28 mapa(80,80);
PedroMartins96 1:2716ea33958b 29 cria_obj(60,40,p);
PedroMartins96 1:2716ea33958b 30 //cria_obj(20,10,p1);
PedroMartins96 1:2716ea33958b 31 //cria_obj(20,60,p2);
PedroMartins96 1:2716ea33958b 32 //cria_obj(20,40,p3);
PedroMartins96 0:a7324f51348d 33
PedroMartins96 1:2716ea33958b 34 //int_map(80, 80);
PedroMartins96 0:a7324f51348d 35 while(1) {
PedroMartins96 0:a7324f51348d 36 if (mode==true) {
PedroMartins96 0:a7324f51348d 37 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 38
PedroMartins96 1:2716ea33958b 39 }
PedroMartins96 1:2716ea33958b 40 else {
PedroMartins96 0:a7324f51348d 41 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 42
PedroMartins96 0:a7324f51348d 43 motion();
PedroMartins96 0:a7324f51348d 44 wait(1);
PedroMartins96 0:a7324f51348d 45
PedroMartins96 1:2716ea33958b 46 VFF();
PedroMartins96 1:2716ea33958b 47 //mode = true;
PedroMartins96 0:a7324f51348d 48 }
PedroMartins96 0:a7324f51348d 49 }
PedroMartins96 0:a7324f51348d 50 }