Revision 3:5d11c69d95df, committed 2017-08-03

Comitter:

alixander

Date:

Thu Aug 03 13:00:02 2017 +0000

Parent:

2:5d37e5fd7141

Commit message:

Random walk for PsiSwarm

Changed in this revision

diff -r 5d37e5fd7141 -r 5d11c69d95df main.cpp
--- a/main.cpp	Mon Oct 17 13:20:23 2016 +0000
+++ b/main.cpp	Thu Aug 03 13:00:02 2017 +0000
@@ -14,6 +14,7 @@
 
 /// Include main.h - this includes psiswarm.h all the other necessary core files
 #include "main.h"
+#include <cstdlib> 
 
 Psiswarm psi;
 
@@ -21,12 +22,34 @@
 char * author_name  = "YRL";
 char * version_name = "0.80";
 
+Timer t; //set a timer
+int how_long;
+
 ///User code loop:  This is where user code should go; it is run as an infinite loop
 void user_code_loop()
 {
-    // Example:
-    // animations.led_run1();
-    // wait(1.2);   
+    motors.forward(0.2); //simple code, the psiswarm continues forwards
+    led.set_leds(0b10101010,0b01010101); //illuminate circumference with alternating led pattern
+
+    t.start();
+    how_long = t.read();
+    
+    if(how_long > 1) {
+        float turn = (rand()%6)/10.0f - 0.25;
+        //float turn = 
+        
+        char s1[17];
+
+        sprintf(s1,"%.3f",turn);
+        display.clear_display();
+        display.set_position(0,0);
+        display.write_string(s1);
+        
+        motors.turn(turn);
+        wait(1);
+        t.reset();
+    }     
+    
 }
 
 ///Place user code here that should be run after initialisation but before the main loop
@@ -35,7 +58,7 @@
     wait(1);
     display.clear_display();
     display.set_position(0,0);
-    display.write_string("No Code");  
+    display.write_string("Going for a walk...");  //display 'Going for a walk...' to indicate robot's function
 }
 
 /// Code goes here to handle what should happen when the user switch is pressed