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root / trunk / code / projects / forklift_demo / main.cpp @ 2011

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#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 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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  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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  /*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(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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                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(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);
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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(800);
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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(128);
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        }
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}