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pepe
Diff: main.cpp
- Revision:
- 1:2716ea33958b
- Parent:
- 0:a7324f51348d
- Child:
- 2:06b7789c7da0
diff -r a7324f51348d -r 2716ea33958b main.cpp --- a/main.cpp Wed Mar 13 23:04:14 2019 +0000 +++ b/main.cpp Wed May 22 09:51:53 2019 +0000 @@ -2,37 +2,49 @@ #include "Robot.h" #include "Communication.h" -Serial pc(SERIAL_TX, SERIAL_RX); +//Serial pc(SERIAL_TX, SERIAL_RX); InterruptIn button(USER_BUTTON); volatile bool mode=true; -float x1=40,y1=-40; // Posição inicial do robo -float a1=1,b1=-2,c1=4; // Reta ax + by + c = 0 -float x2=50,y2=50,phi2=pi/2; // Pose arbitrária +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; + mode = !mode; } int main() { - pc.baud(9600); + //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 { + } + else { setSpeeds(0,0); motion(); wait(1); - //to_point(x1,y1); - //to_line(a1,b1,c1); - to_pos(x2,y2,phi2); + VFF(); + //mode = true; } } } \ No newline at end of file