root / trunk / code / behaviors / formation_control / push_pull / push_pull.c @ 1622
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1 | 1510 | jsexton | #include <stdint.h> |
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2 | 1156 | deffi | #include <dragonfly_lib.h> |
3 | 1502 | jsexton | #include <wl_basic.h> |
4 | 1510 | jsexton | #include <stdlib.h> |
5 | 1156 | deffi | |
6 | 1502 | jsexton | int main (void) { |
7 | 1156 | deffi | |
8 | 1542 | jsexton | Vector v; |
9 | 1156 | deffi | |
10 | 1502 | jsexton | dragonfly_init(ALL_ON); |
11 | xbee_init(); |
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12 | encoders_init(); |
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13 | 1156 | deffi | |
14 | 1502 | jsexton | orbs_set_color(BLUE, GREEN); |
15 | delay_ms(1000);
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16 | orbs_set_color(GREEN, BLUE); |
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17 | delay_ms(1000);
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18 | orbs_set_color(RED, RED); |
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19 | 1156 | deffi | |
20 | 1502 | jsexton | while (1) { |
21 | 1530 | jsexton | bom_print_usb(NULL);
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22 | |||
23 | 1542 | jsexton | bom_get_vector(&v, NULL);
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24 | 1156 | deffi | |
25 | 1542 | jsexton | usb_puts("x: ");
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26 | usb_puti(v.x); |
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27 | 1502 | jsexton | usb_puts("\ty: ");
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28 | 1542 | jsexton | usb_puti(v.y); |
29 | 1503 | jsexton | usb_puts("\n");
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30 | 1156 | deffi | |
31 | 1508 | jsexton | delay_ms(50);
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32 | 1502 | jsexton | } |
33 | 1156 | deffi | |
34 | 1502 | jsexton | while(1); |
35 | 1156 | deffi | |
36 | } |