LED.h & Umwandeln.h

Dependencies:   m3pi_ng mbed

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Show/hide line numbers basic.h Source File

basic.h

00001 #include "mbed.h"
00002 #include "m3pi_ng.h"
00003  
00004 m3pi pi;
00005  
00006 int main() {
00007  
00008     // Parameters that affect the performance
00009     float speed = 0.7; //geschw.
00010     float correction = 0.5;   //korrektur links, rechts
00011     float threshold = 0.5;  //schwelle, korrektur
00012  
00013     pi.locate(0,1); //vorgefertigte position, ausrichten
00014     pi.printf("Runde: ");
00015  
00016     wait(2.0);
00017     
00018     pi.sensor_auto_calibrate();
00019     
00020     while (1) {
00021  
00022         // -1.0 is far left, 1.0 is far right, 0.0 in the middle
00023         float position_of_line = pi.line_position();
00024  
00025         // Line is more than the threshold to the right, slow the left motor
00026         if (position_of_line > threshold) {
00027             pi.leftt_motor(speed);
00028             pi.right_motor(speed-correction);
00029         }
00030  
00031         // Line is more than 50% to the left, slow the right motor
00032         else if (position_of_line < -threshold) {
00033             pi.right_motor(speed);
00034             pi.left_motor(speed-correction);
00035         }
00036  
00037         // Line is in the middle
00038         else {
00039             pi.forward(speed);
00040         }
00041     }
00042 }