Francisco Santos
/
SRA_VFF
pepe
main.cpp
- Committer:
- PedroMartins96
- Date:
- 2019-05-22
- Revision:
- 1:2716ea33958b
- Parent:
- 0:a7324f51348d
- Child:
- 2:06b7789c7da0
File content as of revision 1:2716ea33958b:
#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] = {100,100}; int p1[2] = {140, 80}; int p2[2] = {140, 35}; int p3[2] = {140, 130}; void pressed() { mode = !mode; } int main() { //pc.baud(9600); button.fall(&pressed); setSpeeds(0,0); //wait(0.2); mapa(80,80); cria_obj(60,40,p); //cria_obj(20,10,p1); //cria_obj(20,60,p2); //cria_obj(20,40,p3); //int_map(80, 80); while(1) { if (mode==true) { setSpeeds(0,0); } else { setSpeeds(0,0); motion(); wait(1); VFF(); //mode = true; } } }