Alan Millard / Mbed 2 deprecated BeautifulMemeProjectBT

Bluetooth communication for flocking.

Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

PsiSwarm/dances.cpp@27:7eb032772bc2, 2016-01-31 (annotated)

Committer:
alanmillard
Date:
Sun Jan 31 15:14:54 2016 +0000
Revision:
27:7eb032772bc2
Parent:
10:1b09d4bb847b 
Flocking seems to work better now, however the robot controller sometimes "crashes" (unsure why).

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 10:1b09d4bb847b 1 /* University of York Robotics Laboratory PsiSwarm Library: Dances Source File
jah128 10:1b09d4bb847b 2 *
jah128 10:1b09d4bb847b 3 * Library of simple predetermined movements
jah128 10:1b09d4bb847b 4 *
jah128 10:1b09d4bb847b 5 * File: dances.cpp
jah128 10:1b09d4bb847b 6 *
jah128 10:1b09d4bb847b 7 * (C) Dept. Electronics & Computer Science, University of York
jah128 10:1b09d4bb847b 8 * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 10:1b09d4bb847b 9 *
jah128 10:1b09d4bb847b 10 * PsiSwarm Library Version: 0.3
jah128 10:1b09d4bb847b 11 *
jah128 10:1b09d4bb847b 12 * October 2015
jah128 10:1b09d4bb847b 13 *
jah128 10:1b09d4bb847b 14 */
jah128 10:1b09d4bb847b 15
jah128 10:1b09d4bb847b 16
jah128 10:1b09d4bb847b 17 #include "psiswarm.h"
jah128 10:1b09d4bb847b 18
jah128 10:1b09d4bb847b 19 char vibrate_counter = 0;
jah128 10:1b09d4bb847b 20 Timeout dances_timeout;
jah128 10:1b09d4bb847b 21
jah128 10:1b09d4bb847b 22 ///Do a simple wiggle
jah128 10:1b09d4bb847b 23 void vibrate(void)
jah128 10:1b09d4bb847b 24 {
jah128 10:1b09d4bb847b 25 if(vibrate_counter == 0)save_led_states();
jah128 10:1b09d4bb847b 26 if(vibrate_counter % 2 == 0) {
jah128 10:1b09d4bb847b 27 set_leds(0xC7,0x00);
jah128 10:1b09d4bb847b 28 turn(1.0);
jah128 10:1b09d4bb847b 29 } else {
jah128 10:1b09d4bb847b 30 set_leds(0x00,0xC7);
jah128 10:1b09d4bb847b 31 turn(-1.0);
jah128 10:1b09d4bb847b 32 }
jah128 10:1b09d4bb847b 33 vibrate_counter++;
jah128 10:1b09d4bb847b 34
jah128 10:1b09d4bb847b 35 if(vibrate_counter < 14) {
jah128 10:1b09d4bb847b 36 float wiggle_timeout_period = 0.06;
jah128 10:1b09d4bb847b 37 //Move less on first 'wiggle' so that we stay in roughly the same place!
jah128 10:1b09d4bb847b 38 if(vibrate_counter == 0) wiggle_timeout_period = 0.03;
jah128 10:1b09d4bb847b 39 dances_timeout.attach(vibrate, wiggle_timeout_period);
jah128 10:1b09d4bb847b 40 } else {
jah128 10:1b09d4bb847b 41 vibrate_counter = 0;
jah128 10:1b09d4bb847b 42 brake();
jah128 10:1b09d4bb847b 43 restore_led_states();
jah128 10:1b09d4bb847b 44 }
jah128 10:1b09d4bb847b 45 }