Revision 753
it basically works! It calibrates the motors then drives in a mostly straight line
| branches/encoders/code/behaviors/encoder_test/main.c | ||
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| 1 | 1 |
#include <dragonfly_lib.h> |
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//#define usb_puti(x) x |
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#define GO 1024 |
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#define K 1 |
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#define ABS(x) ((x>0)?x:-x) |
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int main(void) |
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{
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int l=0,r=0; |
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short int lmin=0,rmin=0; |
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dragonfly_init(ALL_ON); |
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encoders_init(); |
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move(200,0); |
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while(l<4){
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l=encoder_get_dx(LEFT); |
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motor1_set(FORWARD,++lmin); |
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delay_ms(1); |
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} |
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motor1_set(FORWARD,0); |
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while(r<4){
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r=encoder_get_dx(RIGHT); |
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motor2_set(FORWARD,++rmin); |
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delay_ms(1); |
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} |
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motor2_set(FORWARD,0); |
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usb_puts("lmin: ");usb_puti(lmin);
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usb_puts(" rmin: ");usb_puti(rmin);usb_puts("\r\n");
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while(1){
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usb_puti(encoder_get_dx(LEFT)); |
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usb_puts(" ");
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usb_puti(encoder_get_dx(RIGHT)); |
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usb_puts("\r\n");
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l=encoder_get_dx(LEFT); |
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r=encoder_get_dx(RIGHT); |
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l = (GO-l)/K; |
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r = (GO-r)/K; |
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if(l>255) |
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l=255; |
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if(l<0) |
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l=0; |
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if(r>255) |
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r=255; |
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if(r<0) |
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r=0; |
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usb_puti(l);usb_puts(" ");usb_puti(r);usb_puts("\r\n");
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motor1_set(FORWARD,(l<lmin)?(lmin+5):l); |
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motor2_set(FORWARD,(r<rmin)?(rmin+5):r); |
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if(ABS(r)<2 && ABS(l)<2){
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move(0,0); |
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usb_puts("done!\r\n");
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while(1); |
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} |
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} |
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} |
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