Raj Patel
/
RoboticMappingControl
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Dependencies: mbed mbed-rtos Motor LSM9DS1_Library_cal X_NUCLEO_53L0A1
Diff: main.cpp
- Revision:
- 8:bfa4bf23522c
- Parent:
- 6:c119cc5d48d6
- Child:
- 9:552805fac195
- Child:
- 11:531208aca075
--- a/main.cpp Mon Apr 15 19:26:56 2019 +0000
+++ b/main.cpp Mon Apr 22 23:55:45 2019 +0000
@@ -1,21 +1,24 @@
-#include "mbed.h"
#include "globals.h"
#include "DataDistributor.h"
#include "RobotController.h"
Serial pc(USBTX, USBRX);
-DigitalIn pb(p26);
+BusOut led(LED1, LED2, LED3, LED4);
+DigitalIn pb(p23);
+
+float* obstacles = new float[360];
+int trajectoryLength = 0;
+float* trajectory = new float[0];
int main() {
- pb.mode(PullUp);
+ delete []trajectory;
DataDistributor dataDistributor;
- RobotController robotController(p21, p15, p16, p22, p18, p19, p17, p20);
+ RobotController robotController(p21, p15, p16, p22, p18, p19, p13, p14);
while(1) {
- float* obstacles = robotController.obstacleDetection();
- dataDistributor.sendObstacles(obstacles);
- float* trajectory = dataDistributor.receiveTrajectory();
- robotController.followTrajectory(trajectory);
- robotController.toOrigin(trajectory);
+ robotController.detectObstacles();
+ dataDistributor.transmitObstacles();
+ dataDistributor.receiveTrajectory();
+ robotController.followTrajectory();
}
}
\ No newline at end of file
