Alex Chadwick / Mbed 2 deprecated ggc2012-racing

Example program for mbed racing at GGC 2012

Dependencies:   m3pi mbed

main.cpp@0:b69a66f03c16, 2012-10-16 (annotated)

Committer:
alexchadwick
Date:
Tue Oct 16 09:58:18 2012 +0000
Revision:
0:b69a66f03c16
Example mbed racing program for GGC2012

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alexchadwick 0:b69a66f03c16 1 #include "mbed.h"
alexchadwick 0:b69a66f03c16 2 #include "m3pi.h"
alexchadwick 0:b69a66f03c16 3
alexchadwick 0:b69a66f03c16 4 #define BASE_SPEED 0.25
alexchadwick 0:b69a66f03c16 5 #define K_P 0.25
alexchadwick 0:b69a66f03c16 6
alexchadwick 0:b69a66f03c16 7 // The pi object lets us access the robot sensors, motors and LCD.
alexchadwick 0:b69a66f03c16 8 // See the user guide at: http://mbed.org/cookbook/m3pi and
alexchadwick 0:b69a66f03c16 9 // http://mbed.org/users/chris/code/m3pi/docs/4b7d6ea9b35b/classm3pi.html
alexchadwick 0:b69a66f03c16 10 m3pi pi;
alexchadwick 0:b69a66f03c16 11
alexchadwick 0:b69a66f03c16 12 int main() {
alexchadwick 0:b69a66f03c16 13 float left_speed, right_speed, line_position;
alexchadwick 0:b69a66f03c16 14
alexchadwick 0:b69a66f03c16 15 // Display "GGC 2012" so users know they have the correct program
alexchadwick 0:b69a66f03c16 16 pi.locate(0,0);
alexchadwick 0:b69a66f03c16 17 pi.printf("GGC 2012");
alexchadwick 0:b69a66f03c16 18
alexchadwick 0:b69a66f03c16 19 wait(0.5);
alexchadwick 0:b69a66f03c16 20
alexchadwick 0:b69a66f03c16 21 // Auto-align the sensors on the bottom of the robot
alexchadwick 0:b69a66f03c16 22 pi.sensor_auto_calibrate();
alexchadwick 0:b69a66f03c16 23
alexchadwick 0:b69a66f03c16 24 while(1)
alexchadwick 0:b69a66f03c16 25 { // This implements proportional feedback for driving the motors
alexchadwick 0:b69a66f03c16 26
alexchadwick 0:b69a66f03c16 27 // Get the position of the line: -1.0 is off to the left;
alexchadwick 0:b69a66f03c16 28 // +1.0 is off to the right.
alexchadwick 0:b69a66f03c16 29 line_position = pi.line_position();
alexchadwick 0:b69a66f03c16 30
alexchadwick 0:b69a66f03c16 31 // Speed for each motor can be -1.0 to +1.0. With the default values
alexchadwick 0:b69a66f03c16 32 // it is limited to between 0 and 0.5.
alexchadwick 0:b69a66f03c16 33 left_speed = BASE_SPEED - line_position*K_P;
alexchadwick 0:b69a66f03c16 34 right_speed = BASE_SPEED + line_position*K_P;
alexchadwick 0:b69a66f03c16 35
alexchadwick 0:b69a66f03c16 36 // Send new speeds to the motor controller
alexchadwick 0:b69a66f03c16 37 pi.left_motor(left_speed);
alexchadwick 0:b69a66f03c16 38 pi.right_motor(right_speed);
alexchadwick 0:b69a66f03c16 39 }
alexchadwick 0:b69a66f03c16 40
alexchadwick 0:b69a66f03c16 41 pi.stop();
alexchadwick 0:b69a66f03c16 42 }