Revision 1514
Remove template "main.c" file. Appropriate Circle behavior code can be found in "circle.c" file.
trunk/code/behaviors/formation_control/circle/main.c | ||
---|---|---|
1 |
/* |
|
2 |
* template.c - A starting point for developing behaviors using the Colony |
|
3 |
* robots. To create a new behavior, you should copy this "template" |
|
4 |
* folder to another folder and rename the "template.c" file |
|
5 |
* appropriately. |
|
6 |
* |
|
7 |
* This template will have the robot drive in circles and flash the orbs. |
|
8 |
* |
|
9 |
* Author: John Sexton, Colony Project, CMU Robotics Club |
|
10 |
*/ |
|
11 |
|
|
12 |
#include <dragonfly_lib.h> |
|
13 |
#include <wl_basic.h> |
|
14 |
|
|
15 |
/* Time delay which determines how long the robot circles before it |
|
16 |
* changes direction. */ |
|
17 |
#define TIME_DELAY 5000 |
|
18 |
|
|
19 |
int main (void) { |
|
20 |
|
|
21 |
/* Initialize the dragonfly boards, the xbee, and the encoders */ |
|
22 |
dragonfly_init(ALL_ON); |
|
23 |
xbee_init(); |
|
24 |
encoders_init(); |
|
25 |
|
|
26 |
while (1) { |
|
27 |
/* Drive left, set orbs, and wait */ |
|
28 |
orbs_set_color(RED, GREEN); |
|
29 |
motor_l_set(FORWARD, 160); |
|
30 |
motor_r_set(FORWARD, 255); |
|
31 |
delay_ms(TIME_DELAY); |
|
32 |
|
|
33 |
/* Drive right, change orb colors, and wait */ |
|
34 |
orbs_set_color(PURPLE, BLUE); |
|
35 |
motor_l_set(FORWARD, 255); |
|
36 |
motor_r_set(FORWARD, 160); |
|
37 |
delay_ms(TIME_DELAY); |
|
38 |
} |
|
39 |
|
|
40 |
} |
Also available in: Unified diff