Francisco Santos
/
SRA_VFF
pepe
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?
User | Revision | Line number | New 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 | } |