Eurobot2012_Primary
Dependencies: mbed Eurobot_2012_Primary
Diff: main.cpp
- Revision:
- 24:7a3906c2f5d5
- Parent:
- 23:1901cb6d0d95
- Child:
- 25:143b19c1fb05
--- a/main.cpp Fri May 04 02:50:07 2012 +0000 +++ b/main.cpp Fri May 04 05:23:45 2012 +0000 @@ -36,10 +36,10 @@ void vStop (void); //Main loop -int main() { +int main() { // no motor motions till we pull the trig ai.flag_motorStop = true; - + nopwait(1000); Colour = ColourToggle; // re-defines beacon positions by the toggle switch kalman.statelock.lock(); @@ -71,7 +71,7 @@ kalman.KalmanInit(); //Thread tMotorThread(vMotorThread,NULL,osPriorityNormal,256); - //Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); + Thread tUpdateState(vPrintState,NULL,osPriorityNormal,1024); pc.printf("We got to main! ;D\r\n"); @@ -134,6 +134,9 @@ // attach a 87 seconds stop timer + + + //REPLACE TICKER!!!! StopTicker.attach(&vStop, 87); @@ -147,27 +150,26 @@ //if (Colour){ // strat 1 RED ================================== ArmsOpen(); - Thread::wait(500); - + //Thread::wait(500); + // goto middle x - settarget(1500, 250, PI/2, true,Colour); + settarget(1500, 250, PI/2, true,Colour, 35); Thread::signal_wait(0x01); Thread::wait(2000); - - + // to palm tree - settarget(1500, 1050, PI, true,Colour); + settarget(1500, 1000, PI, true,Colour, 35); Thread::signal_wait(0x01); Thread::wait(2000); // run over totem - settarget(640,1050,PI, true,Colour); + settarget(800,1050,PI, true,Colour, 60); Thread::signal_wait(0x01); Thread::wait(2000); ArmsClose(); // back to ship - settarget(220,780,PI,true,Colour); + settarget(220,780,PI,true,Colour, 35); Thread::signal_wait(0x01); Thread::wait(2000); //} @@ -195,6 +197,7 @@ Thread::wait(2000); } */ +/* // going from ship to ship for the remaining secs while (true){ // back to home, RED @@ -207,6 +210,7 @@ Thread::signal_wait(0x01); Thread::wait(2000); } + */ // terminate thread, stopps motors permanently ai.flag_terminate = true;