Joachim Schaeffer / Mbed 2 deprecated LineFollower2

a

Dependencies:   Roboter m3pi_js mbed

Fork of m3pi_LineFollower by Chris Styles

main.cpp@2:f3f0843285e2, 2010-11-02 (annotated)

Committer:
chris
Date:
Tue Nov 02 16:58:25 2010 +0000
Revision:
2:f3f0843285e2
Parent:
1:5ddd3faed06d
Child:
3:7f077cf1d755
Changed the instance name from \"pi\" to \"m3pi\", and all reference to it

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:eb1ece444e15 1 #include "mbed.h"
chris 0:eb1ece444e15 2 #include "m3pi.h"
chris 0:eb1ece444e15 3
chris 0:eb1ece444e15 4 BusOut leds(LED1,LED2,LED3,LED4);
chris 2:f3f0843285e2 5 m3pi m3pi (p27,p9,p10); //nRST, TX, RX
chris 0:eb1ece444e15 6
chris 0:eb1ece444e15 7 int main() {
chris 0:eb1ece444e15 8
chris 2:f3f0843285e2 9 m3pi.locate(0,1);
chris 2:f3f0843285e2 10 m3pi.printf("Line Flw");
chris 0:eb1ece444e15 11
chris 0:eb1ece444e15 12 float position_of_line = 0.0;
chris 2:f3f0843285e2 13 m3pi.sensor_auto_calibrate();
chris 0:eb1ece444e15 14 float speed = 0.4;
chris 0:eb1ece444e15 15
chris 0:eb1ece444e15 16 while (1) {
chris 1:5ddd3faed06d 17
chris 0:eb1ece444e15 18 // -1.0 is far left, 1.0 is far right
chris 2:f3f0843285e2 19 position_of_line = m3pi.line_position();
chris 1:5ddd3faed06d 20
chris 0:eb1ece444e15 21 // Line is more than 75% to the left
chris 0:eb1ece444e15 22 if (position_of_line < -0.25) {
chris 2:f3f0843285e2 23 m3pi.left_motor(speed + 0.3);
chris 2:f3f0843285e2 24 m3pi.right_motor(speed - 0.3);
chris 0:eb1ece444e15 25 leds = 0xc;
chris 1:5ddd3faed06d 26 }
chris 0:eb1ece444e15 27 // Line is more than 25% to the left
chris 0:eb1ece444e15 28 else if (position_of_line < -0.10) {
chris 2:f3f0843285e2 29 m3pi.left_motor(speed);
chris 2:f3f0843285e2 30 m3pi.right_motor(speed - 0.3);
chris 0:eb1ece444e15 31 leds = 0x4;
chris 1:5ddd3faed06d 32 }
chris 0:eb1ece444e15 33 // Line is more than 75% to the right
chris 0:eb1ece444e15 34 else if (position_of_line > 0.25) {
chris 2:f3f0843285e2 35 m3pi.right_motor(speed + 0.3);
chris 2:f3f0843285e2 36 m3pi.left_motor(speed - 0.3);
chris 0:eb1ece444e15 37 leds = 0x3;
chris 1:5ddd3faed06d 38 }
chris 1:5ddd3faed06d 39 // Line is more than 75% to the right
chris 0:eb1ece444e15 40 else if (position_of_line > 0.10) {
chris 2:f3f0843285e2 41 m3pi.right_motor(speed);
chris 2:f3f0843285e2 42 m3pi.left_motor(speed - 0.3);
chris 0:eb1ece444e15 43 leds = 0x2;
chris 1:5ddd3faed06d 44 }
chris 1:5ddd3faed06d 45 // Line is inthe middle
chris 0:eb1ece444e15 46 else {
chris 2:f3f0843285e2 47 m3pi.forward(speed);
chris 0:eb1ece444e15 48 leds = 0x0;
chris 0:eb1ece444e15 49 }
chris 0:eb1ece444e15 50 }
chris 0:eb1ece444e15 51 }