Sprint One / NervousPuppySprintOne

Fixed Sonar

Dependencies:   C12832 Servo mbed-rtos-edited mbed

Fork of NervousPuppy by Sean Doyle

nervousPuppy.cpp@6:f854aa2f41e2, 2015-01-26 (annotated)

Committer:
SeanDoyle
Date:
Mon Jan 26 14:50:41 2015 +0000
Revision:
6:f854aa2f41e2
Parent:
5:cbb5d7460309
Child:
7:8b2cf5e6e888
changedCode-removedMath;

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 6:f854aa2f41e2 12 C12832 lcd(p5, p7,
SeanDoyle 6:f854aa2f41e2 13 p6, p8, p11);
SeanDoyle 4:2b47356f4b7d 14
SeanDoyle 4:2b47356f4b7d 15
SeanDoyle 0:f71b200c2f4d 16 nervousPuppy::nervousPuppy(){
SeanDoyle 6:f854aa2f41e2 17 rotation = 0;
SeanDoyle 6:f854aa2f41e2 18 while(1){
SeanDoyle 6:f854aa2f41e2 19
SeanDoyle 6:f854aa2f41e2 20 float x = ainRight.read();
SeanDoyle 6:f854aa2f41e2 21 float y = ainLeft.read();
SeanDoyle 4:2b47356f4b7d 22
SeanDoyle 6:f854aa2f41e2 23
SeanDoyle 4:2b47356f4b7d 24 lcd.cls();
SeanDoyle 6:f854aa2f41e2 25 lcd.locate(0,3);
SeanDoyle 6:f854aa2f41e2 26 lcd.printf("x = %f",x);
SeanDoyle 6:f854aa2f41e2 27 lcd.printf(" y = %f",y);
SeanDoyle 6:f854aa2f41e2 28
SeanDoyle 6:f854aa2f41e2 29
SeanDoyle 6:f854aa2f41e2 30 if(x > 0.10 && y < 0.10){
SeanDoyle 6:f854aa2f41e2 31 lcd.printf("rotating by 2");
SeanDoyle 6:f854aa2f41e2 32 rotate.calibrate(0.0005,2);
SeanDoyle 6:f854aa2f41e2 33 }else if(y > 0.10 && x < 0.10){
SeanDoyle 6:f854aa2f41e2 34 lcd.printf("rotating by -2");
SeanDoyle 6:f854aa2f41e2 35 rotate.calibrate(0.0005,-2);
SeanDoyle 2:8415bea33a95 36 }
SeanDoyle 6:f854aa2f41e2 37 wait(0.2);
SeanDoyle 1:8fe6802d6971 38 }
SeanDoyle 1:8fe6802d6971 39 }
SeanDoyle 1:8fe6802d6971 40
SeanDoyle 2:8415bea33a95 41
SeanDoyle 0:f71b200c2f4d 42
SeanDoyle 1:8fe6802d6971 43 int main(){
SeanDoyle 1:8fe6802d6971 44 nervousPuppy();
SeanDoyle 0:f71b200c2f4d 45 }