Diff: main.cpp

Revision:

0:b69a66f03c16

diff -r 000000000000 -r b69a66f03c16 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Oct 16 09:58:18 2012 +0000
@@ -0,0 +1,42 @@
+#include "mbed.h"
+#include "m3pi.h"
+
+#define BASE_SPEED 0.25
+#define K_P 0.25
+
+// The pi object lets us access the robot sensors, motors and LCD.
+// See the user guide at: http://mbed.org/cookbook/m3pi and
+//  http://mbed.org/users/chris/code/m3pi/docs/4b7d6ea9b35b/classm3pi.html
+m3pi pi;
+
+int main() {
+    float left_speed, right_speed, line_position;
+    
+    // Display "GGC 2012" so users know they have the correct program
+    pi.locate(0,0);
+    pi.printf("GGC 2012");
+    
+    wait(0.5);
+
+    // Auto-align the sensors on the bottom of the robot
+    pi.sensor_auto_calibrate();
+
+    while(1)
+    {   // This implements proportional feedback for driving the motors
+    
+        // Get the position of the line: -1.0 is off to the left;
+        //  +1.0 is off to the right.
+        line_position = pi.line_position();
+        
+        // Speed for each motor can be -1.0 to +1.0. With the default values
+        //  it is limited to between 0 and 0.5.
+        left_speed  = BASE_SPEED - line_position*K_P;
+        right_speed = BASE_SPEED + line_position*K_P;
+        
+        // Send new speeds to the motor controller
+        pi.left_motor(left_speed);
+        pi.right_motor(right_speed);
+    }
+
+    pi.stop();
+}
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