root / trunk / code / projects / forklift_demo / main.cpp @ 2011
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1 | 2007 | jabinder | #include "Forklift.h" |
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2 | 2011 | tmullins | #include "twi.h" |
3 | 2007 | jabinder | extern "C" |
4 | { |
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5 | #include <dragonfly_lib.h> |
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6 | } |
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7 | |||
8 | 2011 | tmullins | #define SPD 190 //200 |
9 | #define TURN_TIME 1050 //950 |
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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 | 2011 | tmullins | sei(); |
18 | 2007 | jabinder | dragonfly_init(ALL_ON); |
19 | orb_init(); |
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20 | forklift_init(); |
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21 | 2010 | tmullins | orb1_set_color(BLUE); |
22 | orb2_set_color(YELLOW); |
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23 | 2007 | jabinder | set_height_setpoint(128);
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24 | 2010 | tmullins | orb1_set_color(PURPLE); |
25 | orb2_set_color(RED); |
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26 | 2011 | tmullins | /*int high = 1;
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27 | while(true)
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28 | {
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29 | set_height_setpoint(high? 100 : 150);
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30 | high = !high;
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31 | delay_ms(4000);
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32 | }*/
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33 | 2007 | jabinder | while(true) |
34 | { |
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35 | while(!button2_read());
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36 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
37 | motor_r_set(BACKWARD, SPD); |
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38 | 2011 | tmullins | delay_ms(800);
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39 | 2010 | tmullins | motor_l_set(BACKWARD, 0);
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40 | motor_r_set(BACKWARD, 0);
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41 | set_height_setpoint(30);
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42 | 2007 | jabinder | delay_ms(1000);
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43 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
44 | motor_r_set(BACKWARD, SPD); |
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45 | delay_ms(200);
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46 | set_height_setpoint(230);
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47 | 2011 | tmullins | delay_ms(600);
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48 | motor_l_set(BACKWARD, 0);
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49 | motor_r_set(BACKWARD, 0);
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50 | delay_ms(1200);
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51 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
52 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
53 | 2010 | tmullins | delay_ms(TURN_TIME); |
54 | motor_l_set(BACKWARD, SPD); |
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55 | 2007 | jabinder | motor_r_set(BACKWARD, SPD); |
56 | 2011 | tmullins | delay_ms(800);
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57 | 2010 | tmullins | motor_l_set(BACKWARD, SPD); |
58 | 2007 | jabinder | motor_r_set(FORWARD, SPD); |
59 | 2010 | tmullins | delay_ms(TURN_TIME); |
60 | motor_l_set(BACKWARD, 0);
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61 | motor_r_set(BACKWARD, 0);
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62 | 2011 | tmullins | set_height_setpoint(128);
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63 | 2007 | jabinder | } |
64 | 2010 | tmullins | } |