Anon Anon
/
MicroMousewithFloodFill
Updated with the Algorithm
Fork of MM_rat_Assignment4-newwest by
main.cpp
- Committer:
- Showboo
- Date:
- 2017-11-20
- Revision:
- 0:f7fc09f9c7ce
- Child:
- 1:fb18b43590e6
File content as of revision 0:f7fc09f9c7ce:
#include "mbed.h" #include "QEI.h" #include "header.h" inline void pulse_ir(int in){ LeftIR = in; FrontLeftIR = in; FrontRightIR = in; RightIR = in; } int main() { pid lman, rman; lman.kp = .004f; lman.ki = .0f; lman.kd = .0f; rman.kp = .5f; rman.ki = .1f; rman.kd = .4f; lpwmf.period(0.01f); lpwmf = 0; //Previously started on, replace with lpwmf = lbase to make it start on (not a good idea) rpwmf.period(0.01f); rpwmf = 0; pid ir_lman, ir_rman; ir_lman.kp = .004f; ir_lman.ki = .0f; ir_lman.kd = .0f; ir_rman.kp = .5f; ir_rman.ki = .1f; ir_rman.kd = .4f; t_time.start(); while(1){ float dt = t_time.read(); float lspeed; float rspeed; pulse_ir(1); ProcessIR(dt, ir_lman, lspeed, rspeed); lpwmb = 0; rpwmb = 0; //lpwmf = lspeed; rpwmf = rspeed; pulse_ir(0); t_time.reset(); } }