root / trunk / code / projects / forklift_demo / main.cpp @ 2010
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| 1 | 2007 | jabinder | #include "Forklift.h" |
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| 2 | |||
| 3 | extern "C" |
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| 4 | {
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| 5 | #include <dragonfly_lib.h> |
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| 6 | } |
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| 7 | |||
| 8 | #define SPD 200 |
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| 9 | 2010 | tmullins | #define TURN_TIME 950 |
| 10 | 2007 | jabinder | |
| 11 | |||
| 12 | using namespace Forklift; |
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| 13 | |||
| 14 | |||
| 15 | int main()
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| 16 | {
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| 17 | dragonfly_init(ALL_ON); |
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| 18 | orb_init(); |
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| 19 | forklift_init(); |
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| 20 | 2010 | tmullins | orb1_set_color(BLUE); |
| 21 | orb2_set_color(YELLOW); |
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| 22 | 2007 | jabinder | set_height_setpoint(128);
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| 23 | 2010 | tmullins | orb1_set_color(PURPLE); |
| 24 | orb2_set_color(RED); |
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| 25 | 2007 | jabinder | while(true) |
| 26 | {
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| 27 | while(!button2_read());
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| 28 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
| 29 | motor_r_set(BACKWARD, SPD); |
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| 30 | 2007 | jabinder | delay_ms(1500);
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| 31 | 2010 | tmullins | motor_l_set(BACKWARD, 0);
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| 32 | motor_r_set(BACKWARD, 0);
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| 33 | set_height_setpoint(30);
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| 34 | 2007 | jabinder | delay_ms(1000);
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| 35 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
| 36 | motor_r_set(BACKWARD, SPD); |
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| 37 | delay_ms(200);
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| 38 | set_height_setpoint(230);
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| 39 | delay_ms(1000);
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| 40 | motor_l_set(BACKWARD, SPD); |
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| 41 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
| 42 | 2010 | tmullins | delay_ms(TURN_TIME); |
| 43 | motor_l_set(BACKWARD, SPD); |
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| 44 | 2007 | jabinder | motor_r_set(BACKWARD, SPD); |
| 45 | 2010 | tmullins | delay_ms(1500);
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| 46 | motor_l_set(BACKWARD, SPD); |
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| 47 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
| 48 | 2010 | tmullins | delay_ms(TURN_TIME); |
| 49 | motor_l_set(BACKWARD, 0);
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| 50 | motor_r_set(BACKWARD, 0);
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| 51 | set_height_setpoint(130);
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| 52 | 2007 | jabinder | } |
| 53 | 2010 | tmullins | } |