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pepe
Diff: main.cpp
- Revision:
- 0:a7324f51348d
- Child:
- 1:2716ea33958b
diff -r 000000000000 -r a7324f51348d main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed Mar 13 23:04:14 2019 +0000 @@ -0,0 +1,38 @@ +#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=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 + +void pressed() +{ + mode= !mode; +} + +int main() +{ + pc.baud(9600); + button.fall(&pressed); + + while(1) { + if (mode==true) { + setSpeeds(0,0); + + } else { + setSpeeds(0,0); + + motion(); + wait(1); + + //to_point(x1,y1); + //to_line(a1,b1,c1); + to_pos(x2,y2,phi2); + } + } +} \ No newline at end of file