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pepe
main.cpp
- Committer:
- FJMS
- Date:
- 2019-11-24
- Revision:
- 2:06b7789c7da0
- Parent:
- 1:2716ea33958b
File content as of revision 2:06b7789c7da0:
#include "mbed.h" #include "Robot.h" #include "Communication.h" //Serial pc(SERIAL_TX, SERIAL_RX); InterruptIn button(USER_BUTTON); volatile bool mode=true; float x1=20,y1=20; // Posição inicial do robo float a1=0,b1=-1,c1=65; // Reta ax + by + c = 0 float x2=65,y2=60,phi2=-pi/2; // Pose arbitrária int p[2] = {59, 43}; int p1[2] = {70, 17}; int p2[2] = {20, 46}; int p3[2] = {48, 66}; //int p4[2] = {200,200}; void pressed() { mode = !mode; } int main() { //pc.baud(9600); button.fall(&pressed); setSpeeds(0,0); //wait(0.2); mapa(80,80); //cria_obj(117,84,p); //cria_obj(20,30,p1); // cria_obj(28,13,p2); //cria_obj(25,12,p3); //int_map(80, 80); while(1) { if (mode==true) { setSpeeds(0,0); } else { setSpeeds(0,0); motion(); wait(1); VFF(); //mode = true; } } }