Chris Styles / Mbed 2 deprecated m3pi_LineFollower

A simple line following program

Dependencies:   mbed

main.cpp@3:7f077cf1d755, 2010-11-07 (annotated)

Committer:
chris
Date:
Sun Nov 07 10:41:55 2010 +0000
Revision:
3:7f077cf1d755
Parent:
2:f3f0843285e2
Child:
5:c705b7e7e1a8
Updated to latest m3pi library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chris 0:eb1ece444e15 1 #include "mbed.h"
chris 0:eb1ece444e15 2 #include "m3pi.h"
chris 0:eb1ece444e15 3
chris 0:eb1ece444e15 4 BusOut leds(LED1,LED2,LED3,LED4);
chris 3:7f077cf1d755 5 m3pi m3pi(p23,p9,p10);
chris 0:eb1ece444e15 6
chris 0:eb1ece444e15 7 int main() {
chris 0:eb1ece444e15 8
chris 3:7f077cf1d755 9
chris 2:f3f0843285e2 10 m3pi.locate(0,1);
chris 2:f3f0843285e2 11 m3pi.printf("Line Flw");
chris 0:eb1ece444e15 12
chris 0:eb1ece444e15 13 float position_of_line = 0.0;
chris 2:f3f0843285e2 14 m3pi.sensor_auto_calibrate();
chris 0:eb1ece444e15 15 float speed = 0.4;
chris 0:eb1ece444e15 16
chris 0:eb1ece444e15 17 while (1) {
chris 1:5ddd3faed06d 18
chris 0:eb1ece444e15 19 // -1.0 is far left, 1.0 is far right
chris 2:f3f0843285e2 20 position_of_line = m3pi.line_position();
chris 1:5ddd3faed06d 21
chris 0:eb1ece444e15 22 // Line is more than 25% to the left
chris 3:7f077cf1d755 23 if (position_of_line < -0.50) {
chris 2:f3f0843285e2 24 m3pi.left_motor(speed);
chris 2:f3f0843285e2 25 m3pi.right_motor(speed - 0.3);
chris 0:eb1ece444e15 26 leds = 0x4;
chris 1:5ddd3faed06d 27 }
chris 0:eb1ece444e15 28 // Line is more than 75% to the right
chris 3:7f077cf1d755 29 else if (position_of_line > 0.50) {
chris 2:f3f0843285e2 30 m3pi.right_motor(speed);
chris 2:f3f0843285e2 31 m3pi.left_motor(speed - 0.3);
chris 0:eb1ece444e15 32 leds = 0x2;
chris 1:5ddd3faed06d 33 }
chris 1:5ddd3faed06d 34 // Line is inthe middle
chris 0:eb1ece444e15 35 else {
chris 2:f3f0843285e2 36 m3pi.forward(speed);
chris 0:eb1ece444e15 37 leds = 0x0;
chris 0:eb1ece444e15 38 }
chris 0:eb1ece444e15 39 }
chris 0:eb1ece444e15 40 }