Sooner Competitive Robotics / Mbed 2 deprecated IEEE_14_Freescale

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Dependencies:   mbed

Fork of IEEE_14_Freescale by IEEE 2014 Mbed

Diff: main.cpp

Revision:
10:926f142f16a3
Parent:
9:aff48e331147
Child:
11:967469d7e01c
diff -r aff48e331147 -r 926f142f16a3 main.cpp
--- a/main.cpp	Mon Feb 03 20:37:35 2014 +0000
+++ b/main.cpp	Wed Feb 12 05:38:52 2014 +0000
@@ -11,6 +11,7 @@
     char tmpchar = 0;
     leds = 0x2;
     const int* constbuf;
+    int tmpOut;
     double targetAngle=0.0;
     while(1) {
         DBGPRINT("BB\n\r",1);
@@ -55,16 +56,21 @@
                 break;
             case 'W': // drive forward a small bit
                 //bot.driveForward(targetAngle,1000);
-                bot.motors.moveForward(100);
-                DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
+                //bot.motors.moveForward(100);
+                tmpOut = bot.absDriveForward(targetAngle,1000);
+                DBGPRINT("W -> %d\n\r",tmpOut);
+                //DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
                 break;
             case 'E': //drive forward five times as much
                 bot.driveForward(targetAngle,5000);
                 DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
                 break;
             case 'X': // small reverse
-                bot.driveForward(targetAngle,-1000);
-                DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
+                //bot.driveForward(targetAngle,-1000);
+                //DBGPRINT("={%f,\t%f,\t%f}\n\r",bot.x,bot.y,bot.rot*180.0/3.14159);
+                
+                tmpOut = bot.absDriveForward(targetAngle,3000);
+                DBGPRINT("X -> %d\n\r",tmpOut);
                 break;
             case 'C': // big reverse
                 bot.driveForward(targetAngle,-5000);