Revision 2010
Some changes to the forklift demo
main.cpp | ||
---|---|---|
6 | 6 |
} |
7 | 7 |
|
8 | 8 |
#define SPD 200 |
9 |
#define TURN_TIME 950 |
|
9 | 10 |
|
10 | 11 |
|
11 | 12 |
using namespace Forklift; |
... | ... | |
16 | 17 |
dragonfly_init(ALL_ON); |
17 | 18 |
orb_init(); |
18 | 19 |
forklift_init(); |
20 |
orb1_set_color(BLUE); |
|
21 |
orb2_set_color(YELLOW); |
|
19 | 22 |
set_height_setpoint(128); |
23 |
orb1_set_color(PURPLE); |
|
24 |
orb2_set_color(RED); |
|
20 | 25 |
while(true) |
21 | 26 |
{ |
22 | 27 |
while(!button2_read()); |
23 |
motor_l_set(FORWARD, SPD);
|
|
24 |
motor_r_set(FORWARD, SPD);
|
|
28 |
motor_l_set(BACKWARD, SPD);
|
|
29 |
motor_r_set(BACKWARD, SPD);
|
|
25 | 30 |
delay_ms(1500); |
26 |
motor_l_set(FORWARD, 0);
|
|
27 |
motor_r_set(FORWARD, 0);
|
|
28 |
set_height_setpoint(0); |
|
31 |
motor_l_set(BACKWARD, 0);
|
|
32 |
motor_r_set(BACKWARD, 0);
|
|
33 |
set_height_setpoint(30);
|
|
29 | 34 |
delay_ms(1000); |
30 |
motor_l_set(FORWARD, SPD); |
|
35 |
motor_l_set(BACKWARD, SPD); |
|
36 |
motor_r_set(BACKWARD, SPD); |
|
37 |
delay_ms(200); |
|
38 |
set_height_setpoint(230); |
|
39 |
delay_ms(1000); |
|
40 |
motor_l_set(BACKWARD, SPD); |
|
31 | 41 |
motor_r_set(FORWARD, SPD); |
32 |
delay_ms(200); |
|
33 |
set_height_setpoint(255); |
|
34 |
motor_l_set(FORWARD, SPD); |
|
42 |
delay_ms(TURN_TIME); |
|
43 |
motor_l_set(BACKWARD, SPD); |
|
35 | 44 |
motor_r_set(BACKWARD, SPD); |
36 |
delay_ms(500); |
|
37 |
motor_l_set(FORWARD, SPD);
|
|
45 |
delay_ms(1500);
|
|
46 |
motor_l_set(BACKWARD, SPD);
|
|
38 | 47 |
motor_r_set(FORWARD, SPD); |
39 |
delay_ms(1500); |
|
40 |
motor_l_set(FORWARD, SPD); |
|
41 |
motor_r_set(BACKWARD, SPD); |
|
42 |
delay_ms(500); |
|
43 |
motor_l_set(FORWARD, 0); |
|
44 |
motor_r_set(FORWARD, 0); |
|
45 |
set_height_setpoint(128); |
|
48 |
delay_ms(TURN_TIME); |
|
49 |
motor_l_set(BACKWARD, 0); |
|
50 |
motor_r_set(BACKWARD, 0); |
|
51 |
set_height_setpoint(130); |
|
46 | 52 |
} |
47 |
} |
|
53 |
} |
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