StingerBot Project
Dependencies: mbed HMC6352 mbed-rtos
Diff: RobotControl.h
- Revision:
- 1:41cee26b35cc
- Parent:
- 0:b6fd1c37944a
- Child:
- 2:56eb726bdb0d
--- a/RobotControl.h Fri Apr 11 17:40:07 2014 +0000 +++ b/RobotControl.h Fri Apr 11 17:54:21 2014 +0000 @@ -5,7 +5,7 @@ #include "HMC6352.h" //Gyro -HMC6532 compass(p28, p27); +HMC6352 compass(p28, p27); //H-bridge PwmOut rightMotorPWM(p21); //Channel A @@ -33,14 +33,26 @@ rightMotorPWM = 0; leftMotorPWM = 0; leftMotor1 = 0; - leftMotor2 = 0; - rightMotor1 = 0; + leftMotor2 = 1; + rightMotor1 = 1; rightMotor2 = 0; } -//Need compass module +//These functions are not completed yet... void gyroDriveStraight(float speed, bool reverse); -void centerTurnLeft(int delta_degrees); +void centerTurnLeft(int delta_degrees) { + double initial = compass.sample() / 10; + while ((compass.sample() / 10) > initial - delta_degrees){ + //Set speed + rightMotorPWM = 0.8; + leftMotorPWM = 0.8; + leftMotor1 = 1; + leftMotor2 = 0; + rightMotor1 = 1; + rightMotor1 = 0; + } + stop(); +} void centerTurnRight(int delta_degrees); void driveTurnLeft(int delta_degrees); void driveTurnRight(int delta_degrees);