uhbduhbv
Dependencies: BNO055_fusion mbed
Fork of DEMO3 by
Diff: main.cpp
- Revision:
- 13:c62f975dfcfe
- Parent:
- 12:3b26fcc7da7e
- Child:
- 14:4839989ae907
diff -r 3b26fcc7da7e -r c62f975dfcfe main.cpp --- a/main.cpp Wed Mar 23 16:25:48 2016 +0000 +++ b/main.cpp Wed Mar 23 18:12:47 2016 +0000 @@ -3,8 +3,8 @@ #include "WATCHDOG.h" -#define SPEED_TURN_MIN 0.20 -#define SPEED_TURN_MAX 0.35 +#define SPEED_TURN_MIN 0.30 +#define SPEED_TURN_MAX 0.45 #define SPEED_FB_MIN 0.15 #define SPEED_FB_MAX 0.50 @@ -18,10 +18,6 @@ LOCALIZE loc(i2c1, i2c2, p26); LOCALIZE_xya xya; -DigitalIn sw1(p20); -DigitalIn sw2(p19); -DigitalIn sw3(p18); -DigitalIn sw4(p17); DigitalOut dir1(p15); DigitalOut dir2(p16); @@ -30,11 +26,6 @@ PwmOut motor2F(p23); PwmOut motor2B(p24); -DigitalOut led1(LED1); -DigitalOut led2(LED2); -DigitalOut led3(LED3); -DigitalOut led4(LED4); - Ticker t; bool flag=false; @@ -54,19 +45,11 @@ motor2B=0; //pc.printf("Initialized Localization: %d\n",loc.init()); t.attach(&send,1); - sw1.mode(PullUp); - sw2.mode(PullUp); - sw3.mode(PullUp); - sw4.mode(PullUp); while(1) { - led1=!sw1; - led2=!sw2; - led3=!sw3; - led4=!sw4; //loc.get_angle(&xya); loc.get_xy(&xya); //pc.printf("X: %3d\tY: %3d\tP: %3d\n",xya.x,xya.y,xya.a); - setAngle(170); + //setAngle(0); wdt.kick(); } }