Fabio Faria / Mbed OS ISR_Mini-explorer_Rangefinder

Preliminary sample code for using the rangefinder.

Dependencies:   ISR_Mini-explorer_tmp2

main.cpp@2:d4d7d6d4a827, 2018-05-11 (annotated)

Committer:
fabiofaria
Date:
Fri May 11 19:22:44 2018 +0000
Revision:
2:d4d7d6d4a827
Parent:
1:8fd592bac4de 
LED to inform robot communication added.; Odometry small change.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fabiofaria 0:ca6c5200a318 1 #include "mbed.h"
fabiofaria 0:ca6c5200a318 2 #include "robot.h" // Inicializa o robô. Este include deverá ser usado em todos os main.cpp!
fabiofaria 0:ca6c5200a318 3 #include "Radio.h"
fabiofaria 0:ca6c5200a318 4 #include "Rangefinder.h"
fabiofaria 0:ca6c5200a318 5
fabiofaria 0:ca6c5200a318 6 int main()
fabiofaria 0:ca6c5200a318 7 {
fabiofaria 0:ca6c5200a318 8 initRobot(124);
fabiofaria 2:d4d7d6d4a827 9 X=20;
fabiofaria 2:d4d7d6d4a827 10 Y=20;
fabiofaria 2:d4d7d6d4a827 11 THETA=0;
fabiofaria 0:ca6c5200a318 12
fabiofaria 0:ca6c5200a318 13 while(1) {
fabiofaria 0:ca6c5200a318 14 if( read_rangefinder() == 0 ) {
fabiofaria 0:ca6c5200a318 15 for(int i = 0; i < 16; i++) {
fabiofaria 1:8fd592bac4de 16 pc.printf("%d=%u ", i, rgfMeasurements[i]);
fabiofaria 0:ca6c5200a318 17 }
fabiofaria 0:ca6c5200a318 18 pc.printf("\n");
fabiofaria 0:ca6c5200a318 19 }
fabiofaria 2:d4d7d6d4a827 20 else
fabiofaria 2:d4d7d6d4a827 21 {
fabiofaria 2:d4d7d6d4a827 22 pc.printf("Rangefinder reading failed!\n");
fabiofaria 2:d4d7d6d4a827 23 q_led_red_rea = 0; // Turns ON rear red LED.
fabiofaria 2:d4d7d6d4a827 24 }
fabiofaria 0:ca6c5200a318 25
fabiofaria 0:ca6c5200a318 26 wait(0.5);
fabiofaria 0:ca6c5200a318 27 }
fabiofaria 0:ca6c5200a318 28 }