Mike Panetta
/
DeadReconing4TriangleFloor
Code for AHRC Triathalon
main.cpp
- Committer:
- mpanetta
- Date:
- 2016-03-09
- Revision:
- 0:e6d2aeb6f9cd
File content as of revision 0:e6d2aeb6f9cd:
#include "mbed.h" #include "m3pi.h" m3pi m3pi; // Minimum and maximum motor speeds #define MAX 0.5 #define MIN 0 // PID terms int main() { m3pi.locate(0,1); m3pi.printf("DR Floor"); wait(2.0); float right; float left; float speed = MAX; // Compute new speeds right = speed; left = speed; // set speed m3pi.left_motor(left); m3pi.right_motor(right); wait(2.3); // The value that determines the distance travelled on the first line segment m3pi.left_motor(0); m3pi.right_motor(0); wait(0.5); m3pi.left_motor(.5); m3pi.right_motor(0); wait(0.35); // The value that sets the angle of the turn based on time m3pi.left_motor(0); m3pi.right_motor(0); wait(1.0); m3pi.left_motor(left); m3pi.right_motor(right); wait(2.3); // The value that determines the distance travelled on the second line segment m3pi.left_motor(0); m3pi.right_motor(0); wait(0.5); m3pi.left_motor(.5); m3pi.right_motor(0); wait(0.35); // The value that sets the angle of the turn based on time m3pi.left_motor(0); m3pi.right_motor(0); wait(1.0); m3pi.left_motor(left); m3pi.right_motor(right); wait(2.25); // The value that determines the distance travelled on the third line segment m3pi.left_motor(0); m3pi.right_motor(0); }