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Dependencies: L3GD20 LSM303DLHC mbed
Main.cpp
00001 //#include "Core.h" 00002 00003 #include "Sensors.h" 00004 #include "PID.h" 00005 #include "Communication.h" 00006 #include "Flooding.h" 00007 #include "Movement.h" 00008 00009 #include "BufferAverage.h" 00010 #include "ExponentialAverage.h" 00011 //#include "WeightedAverage.h" 00012 00013 int main() 00014 { 00015 Motor.baud(115200); 00016 ledF.period_us(26.3); //28.5 //27.9 00017 wait_us(600); 00018 ledF.write(.5); 00019 stop_mov(); 00020 00021 00022 wait(3); 00023 /* 00024 00025 STEVE!!!!!! 00026 WHENEVER YOU ARE IN A CELL AND YOU WANT TO KNOW WHAT THE NEXT BEST MOVE IS 00027 USE THE flood_findPath(x, y) where x and y are your current possition 00028 00029 the function will return a MOVE type 00030 and you can use something similar to this: 00031 00032 i've written the code for the following: 00033 00034 00035 moveNORTH() 00036 moveSOUTH() 00037 moveEAST() 00038 moveWEST() 00039 00040 they are at the bottom of the page. take a look and read them. 00041 00042 00043 REMEMBER TO MOVE THEM TO THE TOP OF THE PAGE IF YOU PLAN TO USE THEM IN THE MAIN FUNCTION, OR VICEVERSA MOVE THE MAIN FUNC. 00044 TO THE BOTTOM 00045 00046 */ 00047 00048 //initMapping(); 00049 initSensors(); 00050 setRightSpeed(3); 00051 setLeftSpeed(3); 00052 t.start(); 00053 00054 //while (true) 00055 //while(SenseF.read() < 0.99) 00056 //while(true) 00057 //{ 00058 t.reset(); 00059 while(frontExpAvg.average() < .8 && wallRight() && wallLeft()) 00060 { 00061 frontExpAvg.add(SenseF.read()); 00062 00063 pid(); 00064 00065 } 00066 00067 float time = t.read(); 00068 handbrake(); 00069 wait_ms(200); 00070 //updateMaze(); 00071 //WIRELESS.printf("Time: %f Cells: %i\n\r", time, cells_traveled); 00072 //printMap(WIRELESS); 00073 //if (frontExpAvg.average() < .8 && !wallRight() && wallLeft()) 00074 turn_right(3); 00075 //if (frontExpAvg.average() < .8 && wallRight() && !wallLeft()) 00076 // turn_left(3); 00077 // } 00078 00079 00080 return 0; 00081 } 00082
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