Spring 2014, ECE 4180 project, Georgia Institute of Technolgoy. This is the autonomous driver program for the Robotics Cat and Mouse program.
Dependencies: IMUfilter ADXL345_I2C mbed ITG3200 USBHost mbed-rtos
Humain.cpp
- Committer:
- Strikewolf
- Date:
- 2014-04-30
- Revision:
- 1:dacf7db790f6
File content as of revision 1:dacf7db790f6:
#include "mbed.h" #include "rtos.h" #include "IMU_RPY.h" #include "GameCode.h" #include "HumanPosition.h" #include "HumanControl.h" int main() { pc.printf("\n\rStartup...\r\n"); //Reset xbee pc.printf("Resetting XBee...\r\n"); rst1 = 0; wait_us(1); rst1 = 1; wait_us(1); //Initialize IMU and filter pc.printf("Initializing IMU...\r\n"); imuFilter.reset(); rpy_init(); // wait for AI car to get away from user pc.printf("Waiting for AI car...\n\r"); wait(10); // start positioning system pc.printf("Starting Positioning System...\n\r"); Thread position(PositionSystemMain, NULL, osPriorityRealtime, 256 * 4); wait(3); // wait for the mouse sensor to boot up // give control to radio driver while game is running pc.printf("Running!\n"); Timer sendTimer; sendTimer.start(); while(!gameOver) { radioDrive(); if(sendTimer.read_ms() % 250) sendPosition(NULL); } }