Revision 2011
Some fixes to forklift demo, and added most recent forklift code to warehouse project.
main.cpp | ||
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1 | 1 |
#include "Forklift.h" |
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#include "twi.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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#define SPD 190 //200
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#define TURN_TIME 1050 //950
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using namespace Forklift; |
... | ... | |
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int main() |
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{ |
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sei(); |
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dragonfly_init(ALL_ON); |
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orb_init(); |
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forklift_init(); |
... | ... | |
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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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/*int high = 1; |
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while(true) |
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{ |
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set_height_setpoint(high? 100 : 150); |
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high = !high; |
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delay_ms(4000); |
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}*/ |
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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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delay_ms(800);
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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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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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delay_ms(600); |
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motor_l_set(BACKWARD, 0); |
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motor_r_set(BACKWARD, 0); |
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delay_ms(1200); |
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motor_l_set(BACKWARD, SPD); |
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motor_r_set(FORWARD, SPD); |
42 | 53 |
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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delay_ms(800);
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motor_l_set(BACKWARD, SPD); |
47 | 58 |
motor_r_set(FORWARD, SPD); |
48 | 59 |
delay_ms(TURN_TIME); |
49 | 60 |
motor_l_set(BACKWARD, 0); |
50 | 61 |
motor_r_set(BACKWARD, 0); |
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set_height_setpoint(130);
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set_height_setpoint(128);
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} |
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} |
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