Revision 2010
Some changes to the forklift demo
| trunk/code/projects/forklift_demo/main.cpp | ||
|---|---|---|
| 6 | 6 |
} |
| 7 | 7 |
|
| 8 | 8 |
#define SPD 200 |
| 9 |
#define TURN_TIME 950 |
|
| 9 | 10 |
|
| 10 | 11 |
|
| 11 | 12 |
using namespace Forklift; |
| ... | ... | |
| 16 | 17 |
dragonfly_init(ALL_ON); |
| 17 | 18 |
orb_init(); |
| 18 | 19 |
forklift_init(); |
| 20 |
orb1_set_color(BLUE); |
|
| 21 |
orb2_set_color(YELLOW); |
|
| 19 | 22 |
set_height_setpoint(128); |
| 23 |
orb1_set_color(PURPLE); |
|
| 24 |
orb2_set_color(RED); |
|
| 20 | 25 |
while(true) |
| 21 | 26 |
{
|
| 22 | 27 |
while(!button2_read()); |
| 23 |
motor_l_set(FORWARD, SPD);
|
|
| 24 |
motor_r_set(FORWARD, SPD);
|
|
| 28 |
motor_l_set(BACKWARD, SPD);
|
|
| 29 |
motor_r_set(BACKWARD, SPD);
|
|
| 25 | 30 |
delay_ms(1500); |
| 26 |
motor_l_set(FORWARD, 0);
|
|
| 27 |
motor_r_set(FORWARD, 0);
|
|
| 28 |
set_height_setpoint(0); |
|
| 31 |
motor_l_set(BACKWARD, 0);
|
|
| 32 |
motor_r_set(BACKWARD, 0);
|
|
| 33 |
set_height_setpoint(30);
|
|
| 29 | 34 |
delay_ms(1000); |
| 30 |
motor_l_set(FORWARD, SPD); |
|
| 35 |
motor_l_set(BACKWARD, SPD); |
|
| 36 |
motor_r_set(BACKWARD, SPD); |
|
| 37 |
delay_ms(200); |
|
| 38 |
set_height_setpoint(230); |
|
| 39 |
delay_ms(1000); |
|
| 40 |
motor_l_set(BACKWARD, SPD); |
|
| 31 | 41 |
motor_r_set(FORWARD, SPD); |
| 32 |
delay_ms(200); |
|
| 33 |
set_height_setpoint(255); |
|
| 34 |
motor_l_set(FORWARD, SPD); |
|
| 42 |
delay_ms(TURN_TIME); |
|
| 43 |
motor_l_set(BACKWARD, SPD); |
|
| 35 | 44 |
motor_r_set(BACKWARD, SPD); |
| 36 |
delay_ms(500); |
|
| 37 |
motor_l_set(FORWARD, SPD);
|
|
| 45 |
delay_ms(1500);
|
|
| 46 |
motor_l_set(BACKWARD, SPD);
|
|
| 38 | 47 |
motor_r_set(FORWARD, SPD); |
| 39 |
delay_ms(1500); |
|
| 40 |
motor_l_set(FORWARD, SPD); |
|
| 41 |
motor_r_set(BACKWARD, SPD); |
|
| 42 |
delay_ms(500); |
|
| 43 |
motor_l_set(FORWARD, 0); |
|
| 44 |
motor_r_set(FORWARD, 0); |
|
| 45 |
set_height_setpoint(128); |
|
| 48 |
delay_ms(TURN_TIME); |
|
| 49 |
motor_l_set(BACKWARD, 0); |
|
| 50 |
motor_r_set(BACKWARD, 0); |
|
| 51 |
set_height_setpoint(130); |
|
| 46 | 52 |
} |
| 47 |
} |
|
| 53 |
} |
|
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