Revision 1:da2f06538364, committed 2014-05-08

Comitter:

jf1452

Date:

Thu May 08 07:17:56 2014 +0000

Parent:

0:794a1188e0e3

Commit message:

RenBuggy Figure Of Eight

Changed in this revision

--- a/main.cpp	Mon Mar 31 10:19:41 2014 +0000
+++ b/main.cpp	Thu May 08 07:17:56 2014 +0000
@@ -1,20 +1,53 @@
 /*******************************************************************************
-* This programme demonstrates how to use the RenBuggy_Timed library.
-* 
-* Mark Jones 
-* V1.0 31/03/2014
+* Used to drive RenBuggy with 2 wheels for a specified amount of time.         *
+* Copyright (c) 2014 Renishaw plc                                              *
+*                                                                              *
+* Permission is hereby granted, free of charge, to any person obtaining a copy *
+* of this software and associated documentation files (the "Software"), to deal*
+* in the Software without restriction, including without limitation the rights *
+* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell    *
+* copies of the Software, and to permit persons to whom the Software is        *
+* furnished to do so, subject to the following conditions:                     *
+*                                                                              *
+* The above copyright notice and this permission notice shall be included in   *
+* all copies or substantial portions of the Software.                          *
+*                                                                              *
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR   *
+* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,     *
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE  *
+* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER       *
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,*
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN    *
+* THE SOFTWARE.                                                                *
+*                                                                              *
+* RenBuggy_Timed_Program                                                       *
+*                                                                              *
+* V1.0 8/5/2014                                           Jon Fuge             *
 *******************************************************************************/
 
+// We are using the buggy with no wheel encoders so we need to use the timed
+// library.
 #include "RenBuggyTimed.h"
 
-RenBuggy myBuggy(p5, p6, p8, p7);
+RenBuggy myBuggy(p5, p6, p8, p7); // Configure control pins for the buggy
+
+// For this buggy, we only need to use the motor control pins p5 & p6.
+// p5 controls the left motor
+// p6 controls the right motor
 
 int main() {
+    int iCircleTime;
+    int iForwardTime;
     
-    myBuggy.forward(4);
-    myBuggy.left(3);
-    myBuggy.forward(4);
-    myBuggy.right(3);
+    iCircleTime = 22; // This is the time in seconds to do one full circle
+    iForwardTime = 1; // This is the time to move forwards
+    
+    myBuggy.stop();
+    myBuggy.left(iCircleTime);
+    myBuggy.forward(iForwardTime);
+    myBuggy.right(iCircleTime);
+    myBuggy.forward(iForwardTime);
+    myBuggy.stop();
     
     return 0;
 }
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