root / trunk / code / projects / forklift_demo / main.cpp @ 2010
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#include "Forklift.h" |
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extern "C" |
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{
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#include <dragonfly_lib.h> |
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} |
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#define SPD 200 |
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#define TURN_TIME 950 |
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using namespace Forklift; |
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int main()
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{
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dragonfly_init(ALL_ON); |
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orb_init(); |
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forklift_init(); |
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orb1_set_color(BLUE); |
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orb2_set_color(YELLOW); |
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set_height_setpoint(128);
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orb1_set_color(PURPLE); |
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orb2_set_color(RED); |
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while(true) |
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{
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while(!button2_read());
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motor_l_set(BACKWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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delay_ms(1500);
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motor_l_set(BACKWARD, 0);
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motor_r_set(BACKWARD, 0);
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set_height_setpoint(30);
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delay_ms(1000);
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motor_l_set(BACKWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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delay_ms(200);
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set_height_setpoint(230);
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delay_ms(1000);
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motor_l_set(BACKWARD, SPD); |
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motor_r_set(FORWARD, SPD); |
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delay_ms(TURN_TIME); |
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motor_l_set(BACKWARD, SPD); |
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motor_r_set(BACKWARD, SPD); |
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delay_ms(1500);
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motor_l_set(BACKWARD, SPD); |
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motor_r_set(FORWARD, SPD); |
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delay_ms(TURN_TIME); |
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motor_l_set(BACKWARD, 0);
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motor_r_set(BACKWARD, 0);
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set_height_setpoint(130);
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} |
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} |