Francisco Santos / Mbed 2 deprecated SRA_VFF

pepe

Dependencies:   mbed Matrix

main.cpp@0:a7324f51348d, 2019-03-13 (annotated)

Committer:
PedroMartins96
Date:
Wed Mar 13 23:04:14 2019 +0000
Revision:
0:a7324f51348d
Child:
1:2716ea33958b
444

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 0:a7324f51348d 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 0:a7324f51348d 9 float x1=40,y1=-40; // Posição inicial do robo
PedroMartins96 0:a7324f51348d 10 float a1=1,b1=-2,c1=4; // Reta ax + by + c = 0
PedroMartins96 0:a7324f51348d 11 float x2=50,y2=50,phi2=pi/2; // Pose arbitrária
PedroMartins96 0:a7324f51348d 12
PedroMartins96 0:a7324f51348d 13 void pressed()
PedroMartins96 0:a7324f51348d 14 {
PedroMartins96 0:a7324f51348d 15 mode= !mode;
PedroMartins96 0:a7324f51348d 16 }
PedroMartins96 0:a7324f51348d 17
PedroMartins96 0:a7324f51348d 18 int main()
PedroMartins96 0:a7324f51348d 19 {
PedroMartins96 0:a7324f51348d 20 pc.baud(9600);
PedroMartins96 0:a7324f51348d 21 button.fall(&pressed);
PedroMartins96 0:a7324f51348d 22
PedroMartins96 0:a7324f51348d 23 while(1) {
PedroMartins96 0:a7324f51348d 24 if (mode==true) {
PedroMartins96 0:a7324f51348d 25 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 26
PedroMartins96 0:a7324f51348d 27 } else {
PedroMartins96 0:a7324f51348d 28 setSpeeds(0,0);
PedroMartins96 0:a7324f51348d 29
PedroMartins96 0:a7324f51348d 30 motion();
PedroMartins96 0:a7324f51348d 31 wait(1);
PedroMartins96 0:a7324f51348d 32
PedroMartins96 0:a7324f51348d 33 //to_point(x1,y1);
PedroMartins96 0:a7324f51348d 34 //to_line(a1,b1,c1);
PedroMartins96 0:a7324f51348d 35 to_pos(x2,y2,phi2);
PedroMartins96 0:a7324f51348d 36 }
PedroMartins96 0:a7324f51348d 37 }
PedroMartins96 0:a7324f51348d 38 }