Sprint One / NervousPuppySprintOne

Fixed Sonar

Dependencies:   C12832 Servo mbed-rtos-edited mbed

Fork of NervousPuppy by Sean Doyle

nervousPuppy.cpp@7:8b2cf5e6e888, 2015-01-28 (annotated)

Committer:
SeanDoyle
Date:
Wed Jan 28 16:49:16 2015 +0000
Revision:
7:8b2cf5e6e888
Parent:
6:f854aa2f41e2 
tracking implemented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SeanDoyle 0:f71b200c2f4d 1 #include "nervousPuppy.h"
SeanDoyle 0:f71b200c2f4d 2
SeanDoyle 2:8415bea33a95 3 /**
SeanDoyle 2:8415bea33a95 4 * Constructor - contains running loop
SeanDoyle 2:8415bea33a95 5 */
SeanDoyle 4:2b47356f4b7d 6
SeanDoyle 4:2b47356f4b7d 7 Servo tilt(p21);
SeanDoyle 4:2b47356f4b7d 8 Servo rotate(p22);
SeanDoyle 6:f854aa2f41e2 9 AnalogIn ainLeft(p15);
SeanDoyle 6:f854aa2f41e2 10 AnalogIn ainRight(p16);
SeanDoyle 4:2b47356f4b7d 11
SeanDoyle 7:8b2cf5e6e888 12 C12832 lcd(p5, p7, p6, p8, p11);
SeanDoyle 4:2b47356f4b7d 13
SeanDoyle 4:2b47356f4b7d 14
SeanDoyle 0:f71b200c2f4d 15 nervousPuppy::nervousPuppy(){
SeanDoyle 6:f854aa2f41e2 16 rotation = 0;
SeanDoyle 7:8b2cf5e6e888 17 int pos = 1000;
SeanDoyle 7:8b2cf5e6e888 18 rotate.Enable(1000,20000);
SeanDoyle 6:f854aa2f41e2 19 while(1){
SeanDoyle 7:8b2cf5e6e888 20
SeanDoyle 6:f854aa2f41e2 21
SeanDoyle 7:8b2cf5e6e888 22 float x = 100*ainRight.read();
SeanDoyle 7:8b2cf5e6e888 23 float y = 100*ainLeft.read();
SeanDoyle 4:2b47356f4b7d 24
SeanDoyle 6:f854aa2f41e2 25
SeanDoyle 4:2b47356f4b7d 26 lcd.cls();
SeanDoyle 6:f854aa2f41e2 27 lcd.locate(0,3);
SeanDoyle 6:f854aa2f41e2 28 lcd.printf("x = %f",x);
SeanDoyle 6:f854aa2f41e2 29 lcd.printf(" y = %f",y);
SeanDoyle 6:f854aa2f41e2 30
SeanDoyle 6:f854aa2f41e2 31
SeanDoyle 7:8b2cf5e6e888 32 if(y > 3.5 && x < 3.5){
SeanDoyle 7:8b2cf5e6e888 33 lcd.printf("rotating by ,%f",pos);
SeanDoyle 7:8b2cf5e6e888 34 pos += 50;
SeanDoyle 7:8b2cf5e6e888 35 rotate.SetPosition(pos);
SeanDoyle 7:8b2cf5e6e888 36 }else if(x > 3.5 && y < 3.5){
SeanDoyle 7:8b2cf5e6e888 37 lcd.printf("rotating by ,%f", pos);
SeanDoyle 7:8b2cf5e6e888 38 pos -= 50;
SeanDoyle 7:8b2cf5e6e888 39 rotate.SetPosition(pos);
SeanDoyle 2:8415bea33a95 40 }
SeanDoyle 7:8b2cf5e6e888 41
SeanDoyle 1:8fe6802d6971 42 }
SeanDoyle 1:8fe6802d6971 43 }
SeanDoyle 1:8fe6802d6971 44
SeanDoyle 2:8415bea33a95 45
SeanDoyle 0:f71b200c2f4d 46
SeanDoyle 1:8fe6802d6971 47 int main(){
SeanDoyle 1:8fe6802d6971 48 nervousPuppy();
SeanDoyle 0:f71b200c2f4d 49 }