Fabio Faria / Mbed OS ISR_Mini-explorer_Rangefinder

Preliminary sample code for using the rangefinder.

Dependencies:   ISR_Mini-explorer_tmp2

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Show/hide line numbers main.cpp Source File

main.cpp

00001 #include "mbed.h"
00002 #include "robot.h" // Inicializa o robô. Este include deverá ser usado em todos os main.cpp!
00003 #include "Radio.h"
00004 #include "Rangefinder.h"
00005 
00006 int main()
00007 {
00008     initRobot(124);
00009     X=20;
00010     Y=20;
00011     THETA=0;
00012 
00013     while(1) {
00014         if( read_rangefinder() == 0 ) {
00015             for(int i = 0; i < 16; i++) {
00016                 pc.printf("%d=%u ", i, rgfMeasurements[i]);
00017             }
00018             pc.printf("\n");
00019         }
00020         else
00021         {
00022             pc.printf("Rangefinder reading failed!\n");
00023             q_led_red_rea = 0; // Turns ON rear red LED.
00024         }
00025 
00026         wait(0.5);
00027     }
00028 }
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