root / trunk / code / projects / forklift_demo / main.cpp @ 2010
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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 | 2010 | tmullins | #define TURN_TIME 950 |
10 | 2007 | jabinder | |
11 | |||
12 | using namespace Forklift; |
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13 | |||
14 | |||
15 | int main()
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16 | { |
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17 | dragonfly_init(ALL_ON); |
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18 | orb_init(); |
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19 | forklift_init(); |
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20 | 2010 | tmullins | orb1_set_color(BLUE); |
21 | orb2_set_color(YELLOW); |
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22 | 2007 | jabinder | set_height_setpoint(128);
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23 | 2010 | tmullins | orb1_set_color(PURPLE); |
24 | orb2_set_color(RED); |
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25 | 2007 | jabinder | while(true) |
26 | { |
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27 | while(!button2_read());
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28 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
29 | motor_r_set(BACKWARD, SPD); |
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30 | 2007 | jabinder | delay_ms(1500);
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31 | 2010 | tmullins | motor_l_set(BACKWARD, 0);
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32 | motor_r_set(BACKWARD, 0);
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33 | set_height_setpoint(30);
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34 | 2007 | jabinder | delay_ms(1000);
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35 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
36 | motor_r_set(BACKWARD, SPD); |
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37 | delay_ms(200);
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38 | set_height_setpoint(230);
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39 | delay_ms(1000);
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40 | motor_l_set(BACKWARD, SPD); |
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41 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
42 | 2010 | tmullins | delay_ms(TURN_TIME); |
43 | motor_l_set(BACKWARD, SPD); |
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44 | 2007 | jabinder | motor_r_set(BACKWARD, SPD); |
45 | 2010 | tmullins | delay_ms(1500);
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46 | motor_l_set(BACKWARD, SPD); |
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47 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
48 | 2010 | tmullins | delay_ms(TURN_TIME); |
49 | motor_l_set(BACKWARD, 0);
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50 | motor_r_set(BACKWARD, 0);
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51 | set_height_setpoint(130);
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52 | 2007 | jabinder | } |
53 | 2010 | tmullins | } |