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Revision 2011

Added by Thomas Mullins almost 12 years ago

Some fixes to forklift demo, and added most recent forklift code to warehouse project.

View differences:

main.cpp
1 1 
#include "Forklift.h"
2 

  		




  
  2
  
    
#include "twi.h"


  		




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extern "C"


  		




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  4
  
    
{


  		




  5
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#include <dragonfly_lib.h>


  		




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}


  		




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#define SPD 200


  		




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#define TURN_TIME 950


  		




  
  8
  
    
#define SPD 190 //200


  		




  
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#define TURN_TIME 1050 //950


  		




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using namespace Forklift;


  		




  ......




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int main()


  		




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{


  		




  
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	sei();


  		




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	dragonfly_init(ALL_ON);


  		




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	orb_init();


  		




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	forklift_init();


  		




  ......




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	set_height_setpoint(128);


  		




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  orb1_set_color(PURPLE);


  		




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  orb2_set_color(RED);


  		




  
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  /*int high = 1;


  		




  
  27
  
    
  while(true)


  		




  
  28
  
    
  {


  		




  
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		set_height_setpoint(high? 100 : 150);


  		




  
  30
  
    
		high = !high;


  		




  
  31
  
    
		delay_ms(4000);


  		




  
  32
  
    
	}*/


  		




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	while(true)


  		




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	{


  		




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		while(!button2_read());


  		




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		motor_l_set(BACKWARD, SPD);


  		




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		motor_r_set(BACKWARD, SPD);


  		




  30
  
  
    
		delay_ms(1500);


  		




  
  38
  
    
		delay_ms(800);


  		




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		motor_l_set(BACKWARD, 0);


  		




  32
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		motor_r_set(BACKWARD, 0);


  		




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		set_height_setpoint(30);


  		




  ......




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		motor_r_set(BACKWARD, SPD);


  		




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		delay_ms(200);


  		




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		set_height_setpoint(230);


  		




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		delay_ms(1000);


  		




  
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		delay_ms(600);


  		




  
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		motor_l_set(BACKWARD, 0);


  		




  
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		motor_r_set(BACKWARD, 0);


  		




  
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		delay_ms(1200);


  		




  40
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		motor_l_set(BACKWARD, SPD);


  		




  41
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		motor_r_set(FORWARD, SPD);


  		




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		delay_ms(TURN_TIME);


  		




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		motor_l_set(BACKWARD, SPD);


  		




  44
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		motor_r_set(BACKWARD, SPD);


  		




  45
  
  
    
		delay_ms(1500);


  		




  
  56
  
    
		delay_ms(800);


  		




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		motor_l_set(BACKWARD, SPD);


  		




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		motor_r_set(FORWARD, SPD);


  		




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		delay_ms(TURN_TIME);


  		




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		motor_l_set(BACKWARD, 0);


  		




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		motor_r_set(BACKWARD, 0);


  		




  51
  
  
    
		set_height_setpoint(130);


  		




  
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		set_height_setpoint(128);


  		




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	}


  		




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}


  		












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