root / trunk / code / projects / forklift_demo / main.cpp @ 2008
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1 | 2007 | jabinder | #include "Forklift.h" |
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2 | |||
3 | extern "C" |
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4 | { |
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5 | #include <dragonfly_lib.h> |
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6 | } |
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7 | |||
8 | #define SPD 200 |
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9 | |||
10 | |||
11 | using namespace Forklift; |
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12 | |||
13 | |||
14 | int main()
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15 | { |
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16 | dragonfly_init(ALL_ON); |
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17 | orb_init(); |
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18 | forklift_init(); |
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19 | set_height_setpoint(128);
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20 | while(true) |
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21 | { |
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22 | while(!button2_read());
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23 | motor_l_set(FORWARD, SPD); |
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24 | motor_r_set(FORWARD, SPD); |
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25 | delay_ms(1500);
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26 | motor_l_set(FORWARD, 0);
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27 | motor_r_set(FORWARD, 0);
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28 | set_height_setpoint(0);
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29 | delay_ms(1000);
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30 | motor_l_set(FORWARD, SPD); |
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31 | motor_r_set(FORWARD, SPD); |
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32 | delay_ms(200);
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33 | set_height_setpoint(255);
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34 | motor_l_set(FORWARD, SPD); |
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35 | motor_r_set(BACKWARD, SPD); |
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36 | delay_ms(500);
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37 | motor_l_set(FORWARD, SPD); |
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38 | motor_r_set(FORWARD, SPD); |
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39 | delay_ms(1500);
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40 | motor_l_set(FORWARD, SPD); |
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41 | motor_r_set(BACKWARD, SPD); |
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42 | delay_ms(500);
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43 | motor_l_set(FORWARD, 0);
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44 | motor_r_set(FORWARD, 0);
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45 | set_height_setpoint(128);
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46 | } |
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47 | } |