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Bluetooth communication for flocking.
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PsiSwarm/dances.cpp
- Committer:
- alanmillard
- Date:
- 2016-01-31
- Revision:
- 27:7eb032772bc2
- Parent:
- 10:1b09d4bb847b
File content as of revision 27:7eb032772bc2:
/* University of York Robotics Laboratory PsiSwarm Library: Dances Source File * * Library of simple predetermined movements * * File: dances.cpp * * (C) Dept. Electronics & Computer Science, University of York * James Hilder, Alan Millard, Homero Elizondo, Jon Timmis * * PsiSwarm Library Version: 0.3 * * October 2015 * */ #include "psiswarm.h" char vibrate_counter = 0; Timeout dances_timeout; ///Do a simple wiggle void vibrate(void) { if(vibrate_counter == 0)save_led_states(); if(vibrate_counter % 2 == 0) { set_leds(0xC7,0x00); turn(1.0); } else { set_leds(0x00,0xC7); turn(-1.0); } vibrate_counter++; if(vibrate_counter < 14) { float wiggle_timeout_period = 0.06; //Move less on first 'wiggle' so that we stay in roughly the same place! if(vibrate_counter == 0) wiggle_timeout_period = 0.03; dances_timeout.attach(vibrate, wiggle_timeout_period); } else { vibrate_counter = 0; brake(); restore_led_states(); } }