root / trunk / code / projects / forklift_demo / main.cpp @ 2011
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| 1 | 2007 | jabinder | #include "Forklift.h" |
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| 2 | 2011 | tmullins | #include "twi.h" |
| 3 | 2007 | jabinder | extern "C" |
| 4 | {
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| 5 | #include <dragonfly_lib.h> |
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| 6 | } |
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| 7 | |||
| 8 | 2011 | tmullins | #define SPD 190 //200 |
| 9 | #define TURN_TIME 1050 //950 |
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| 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 | 2011 | tmullins | sei(); |
| 18 | 2007 | jabinder | dragonfly_init(ALL_ON); |
| 19 | orb_init(); |
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| 20 | forklift_init(); |
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| 21 | 2010 | tmullins | orb1_set_color(BLUE); |
| 22 | orb2_set_color(YELLOW); |
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| 23 | 2007 | jabinder | set_height_setpoint(128);
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| 24 | 2010 | tmullins | orb1_set_color(PURPLE); |
| 25 | orb2_set_color(RED); |
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| 26 | 2011 | tmullins | /*int high = 1;
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| 27 | while(true)
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| 28 | {
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| 29 | set_height_setpoint(high? 100 : 150);
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| 30 | high = !high;
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| 31 | delay_ms(4000);
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| 32 | }*/
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| 33 | 2007 | jabinder | while(true) |
| 34 | {
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| 35 | while(!button2_read());
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| 36 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
| 37 | motor_r_set(BACKWARD, SPD); |
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| 38 | 2011 | tmullins | delay_ms(800);
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| 39 | 2010 | tmullins | motor_l_set(BACKWARD, 0);
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| 40 | motor_r_set(BACKWARD, 0);
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| 41 | set_height_setpoint(30);
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| 42 | 2007 | jabinder | delay_ms(1000);
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| 43 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
| 44 | motor_r_set(BACKWARD, SPD); |
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| 45 | delay_ms(200);
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| 46 | set_height_setpoint(230);
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| 47 | 2011 | tmullins | delay_ms(600);
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| 48 | motor_l_set(BACKWARD, 0);
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| 49 | motor_r_set(BACKWARD, 0);
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| 50 | delay_ms(1200);
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| 51 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
| 52 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
| 53 | 2010 | tmullins | delay_ms(TURN_TIME); |
| 54 | motor_l_set(BACKWARD, SPD); |
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| 55 | 2007 | jabinder | motor_r_set(BACKWARD, SPD); |
| 56 | 2011 | tmullins | delay_ms(800);
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| 57 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
| 58 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
| 59 | 2010 | tmullins | delay_ms(TURN_TIME); |
| 60 | motor_l_set(BACKWARD, 0);
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| 61 | motor_r_set(BACKWARD, 0);
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| 62 | 2011 | tmullins | set_height_setpoint(128);
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| 63 | 2007 | jabinder | } |
| 64 | 2010 | tmullins | } |