C++ (Cpp) soft_left_2 Examples

Example #1

File: def.c Project: Xalos/Pick-placer

void soft_left_2_degrees(unsigned int Degrees)
{
 // 176 pulses for 360 degrees rotation 2.045 degrees per count
 soft_left_2(); //Turn reverse soft left
 Degrees=Degrees*2;
 angle_rotate(Degrees);
}

Example #2

File: Velocity_Control_using_PWM.c Project: abhi11796acharya/Hazardous-Waste-Disposal

//Main Function
int main()
{
	init_devices();
	velocity (100, 100); //Set robot velocity here. Smaller the value lesser will be the velocity
						 //Try different valuse between 0 to 255
	while(1)
	{
	
		forward(); //both wheels forward
		_delay_ms(1000);

		stop();						
		_delay_ms(500);
	
		back(); //both wheels backward						
		_delay_ms(1000);

		stop();						
		_delay_ms(500);
		
		left(); //Left wheel backward, Right wheel forward
		_delay_ms(1000);
		
		stop();						
		_delay_ms(500);
		
		right(); //Left wheel forward, Right wheel backward
		_delay_ms(1000);

		stop();						
		_delay_ms(500);

		soft_left(); //Left wheel stationary, Right wheel forward
		_delay_ms(1000);
		
		stop();						
		_delay_ms(500);

		soft_right(); //Left wheel forward, Right wheel is stationary
		_delay_ms(1000);

		stop();						
		_delay_ms(500);

		soft_left_2(); //Left wheel backward, right wheel stationary
		_delay_ms(1000);

		stop();						
		_delay_ms(500);

		soft_right_2(); //Left wheel stationary, Right wheel backward
		_delay_ms(1000);

		stop();						
		_delay_ms(1000);
	}
}

Example #3

File: 3_Motion_Control_Simple.c Project: abhi11796acharya/Hazardous-Waste-Disposal

//Main Function
int main()
{
	init_devices();
		
	while(1)
	{
	
		forward(); //both wheels forward
		_delay_ms(1000);

		stop();						
		_delay_ms(500);
	
		back(); //bpth wheels backward						
		_delay_ms(1000);

		stop();						
		_delay_ms(500);
		
		left(); //Left wheel backward, Right wheel forward
		_delay_ms(1000);
		
		stop();						
		_delay_ms(500);
		
		right(); //Left wheel forward, Right wheel backward
		_delay_ms(1000);

		stop();						
		_delay_ms(500);

		soft_left(); //Left wheel stationary, Right wheel forward
		_delay_ms(1000);
		
		stop();						
		_delay_ms(500);

		soft_right(); //Left wheel forward, Right wheel is stationary
		_delay_ms(1000);

		stop();						
		_delay_ms(500);

		soft_left_2(); //Left wheel backward, right wheel stationary
		_delay_ms(1000);

		stop();						
		_delay_ms(500);

		soft_right_2(); //Left wheel stationary, Right wheel backward
		_delay_ms(1000);

		stop();						
		_delay_ms(1000); 
	}
}

Example #4

File: sample_code.c Project: Ani1919/CS101-Project

// MAIN FUNCTION 
int main()
{ 
	
	//init_devices2();
	 
	
	// White Line Following
	while(1) 
	{
		init_devices_motion();
		init_devices_adc();
		lcd_set_4bit();
		lcd_init();
		
		unsigned char flag = 0;
		unsigned char Left_white_line = 0;
		unsigned char Center_white_line = 0;
		unsigned char Right_white_line = 0;
		unsigned char lwl=0;
		unsigned char cwl=0;
		unsigned char rwl=0;
		
		while(1)
		{
            
			Left_white_line = ADC_Conversion(3);	//Getting data of Left WL Sensor
			Center_white_line = ADC_Conversion(2);	//Getting data of Center WL Sensor
			Right_white_line = ADC_Conversion(1);	//Getting data of Right WL Sensor

			flag=0;

			print_sensor(1,1,3);	//Prints value of White Line Sensor1
			print_sensor(1,5,2);	//Prints Value of White Line Sensor2
			print_sensor(1,9,1);	//Prints Value of White Line Sensor3
			
			

			if(Center_white_line<0x10)
			{
				flag=1;
				forward();
				velocity(100,100);
				//_delay_ms(10000);
			}

			if((Left_white_line>0x10) && (flag==0))
			{   
				
				//bot_charging_process();
				flag=1;
				forward();
				velocity(130,30);
			}

			if((Right_white_line>0x10) && (flag==0))
			{
				//bot_charging_process();
				flag=1;
				forward();
				velocity(30,130);
			}

			if(Center_white_line>0x10 && Left_white_line>0x10 && Right_white_line>0x10)
			{
				forward();
				velocity(0,0);
			}
			
			if((((Center_white_line-Right_white_line>0)&&(Center_white_line-Right_white_line<=10))||((Right_white_line-Center_white_line>0)&&(Right_white_line-Center_white_line<=10)))&&
			   (((Center_white_line-Left_white_line>0)&&(Center_white_line-Left_white_line<=10))||((Left_white_line-Center_white_line>0)&&(Left_white_line-Center_white_line<=10)))&&
			   (((Left_white_line-Right_white_line>0)&&(Left_white_line-Right_white_line<=10))||((Right_white_line-Left_white_line>0)&&(Right_white_line-Left_white_line<=10)))
		
		          ) // recognising node position that is if the reading at all three white line sensors differ maximum by 10 then that point will be node
		       {	
			     lwl=Left_white_line;
				 cwl=Center_white_line;
				 rwl=Right_white_line;
				 stop();
			     _delay_ms(500);
			      break;		   
			  }
		  }	
	  bot_charging_process();
	 //buzzer();
	 
	 
	for(int t=max_angle_of_bot;t>=0;t--)
	 {
		  soft_left_2();       //left wheel forward leaving the right wheel at rest to get
		                       //soft rotation at the axis of right wheel
		  _delay_ms(rot_time);
		  
		  stop();
		  _delay_ms(100);
	 }	
	 
	 forward();
	 _delay_ms(100);  	 
   }
}