Diff: main.cpp

Revision:

15:960b922433d1

Parent:

13:789b451cc27d

Child:

17:bd6b6ac89e0e

Child:

18:af32a5e7e8ae

diff -r e12d0fdc3a48 -r 960b922433d1 main.cpp
--- a/main.cpp	Sun Nov 18 13:33:28 2018 +0000
+++ b/main.cpp	Sat Dec 01 14:25:04 2018 +0000
@@ -11,26 +11,25 @@
 #include "system.h"
 #include "sound.h"
 
-
-
 int main() {
-    int k = 0;
-    wait_ms(1000);
+    int k;
+    wait_ms(500);
     system_init();
-    //gyro_x=0, gyro_y=0, gyro_angle=0, gyro_v=0, gyro_s=0;
-    current.x = 0;
+    start_recognizer();
+    play(1);
     
     while(1){
         while(realtime_flag == 0){}
+        myled = 0; //inverse connection
         gyro.read(&gx,&gy,&gz,&ax,&ay,&az); //doesn't work in interrupt // reading - 500 uS 
-        balance();    
+//constant speed motion: distance_to_target = (x_diff/x_prop) * target.speed
+        balance_coord(); 
+        //balance_motion();   
         if(external_command != 0) command_process();
-        realtime_flag = 0;
-        k++;
-        //target.x = 0;
-        //target.y = 0;
-        if (k > 3596) { k = 0;  } else { target.x = trajectory[int(k/400)][1];target.y = trajectory[int(k/400)][0]; }
-        //k++ ; target.x = 0.1*int(k/200);
+        voice_command_process();
+        if (k++ > 1000) {k = 0;} else { target.x = trajectory[int(k/100)][0];target.y = trajectory[int(k/100)][1]; target.azimuth = trajectory[int(k/100)][2];}
+        realtime_flag = 0; myled = 1;
         }
     //while(1){proc_counter++;}
 }
+