robot.cpp

00001 /*
00002  ============================================================================
00003  Name        : robot.cpp
00004  Author      : Team 5
00005  Version     : 0.1
00006  Date        : 13-10-2016
00007  Copyright   : Open for all
00008  Description : Program to serve the platform for Pro1 2016
00009  ============================================================================
00010  */ 
00011 #include "odometry.h" 
00012 #include "mbed.h"
00013 #include "hack_motor.h"
00014 #include <math.h> 
00015 
00016 void startfunction( );
00017 Ticker T1; // create an object T1 of Ticker 
00018 
00019 int main()
00020 { 
00021   startfunction();
00022   distance = 2000;
00023   get_to_goal();;
00024   robot.stop();
00025   distance = 4500;
00026   wait_ms(1000);
00027   
00028    init();
00029    while(tickR <= 16)
00030    {
00031     robot.FW(0.5, 0);
00032     wait_ms(10);
00033     }
00034     robot.stop();
00035   
00036   while(1)   
00037   {
00038    init();
00039    startfunction();
00040    get_to_goal();
00041    robot.stop(); 
00042    wait_ms(1000);
00043    
00044    init();
00045    while(tickR <= 16)
00046    {
00047     robot.FW(0.5, 0);
00048     wait_ms(10);
00049     }
00050     robot.stop();
00051 } 
00052 }     
00053 void startfunction()
00054 {
00055     tacho_left.rise(&tickLeft);  // attach the address of the count function
00056     //to the falling edge
00057     tacho_right.rise(&tickRight);  // attach the address of the count function
00058     //to the falling edge
00059     init(); // initialise parameters (just for you to remember if you need to)
00060     wait_ms(2000); //wait 1 secs here before you go
00061     t.start();      // start timer (just demo of how you can use a timer)
00062 }