int main() // Main - execution begins!
{
xbee = fdserial_open(11, 10, 0, 9600);
//dprint(xbee, "hello");
//dprint(xbee, "hello");
drive_speed(0,0); // Start servos/encoders cog
drive_setRampStep(10); // Set ramping at 10 ticks/sec per 20 ms
sirc_setTimeout(50); // Remote timeout = 50 ms
//drive_feedback(0);
dt = CLKFREQ/10;
t = CNT;
while(1) // Outer loop
{
int button = sirc_button(4); // check for remote key press
// Motion responses - if key pressed, set wheel speeds
if(button == 2)
{
if(!running)
cogstart(&gofwd, NULL, fstack, sizeof fstack);
}
if(button == 8)
{
if(!running)
cogstart(&gobkwd, NULL, bstack, sizeof bstack);
}
if(button == CH_UP)drive_rampStep(100, 100); // Left turn
if(button == CH_DN)drive_rampStep(-100, -100); // Right turn
if(button == VOL_DN)drive_rampStep(-100, 100); // Left turn
if(button == VOL_UP)drive_rampStep(100, -100); // Right turn
if(button == MUTE)drive_rampStep(0, 0); // Stop
if(button == ENTER)
{
getTicks();
displayTicks();
}
if(CNT - t > dt)
{
t+=dt;
i++;
getTicks();
if
(
ticksLeftCalc != ticksLeftCalcOld
|| ticksRightCalc != ticksRightCalcOld
|| ticksLeft != ticksLeftOld
|| ticksRight != ticksRightOld
)
{
displayTicks();
}
}
}
}
void derecha(){
for(int n = 1; n <= 65; n++){ // Count to hundred
drive_rampStep(35,35); // move not too fast
pause(10); // 50 ms between reps
}
drive_speed(0,0);
pause(500);
drive_goto(25,-25); //giro a la derecha
pause(500);
for(int n = 1; n <= 65; n++){ // Count to hundred
drive_rampStep(35,35); // move not too fast
pause(10); // 50 ms between reps
}
}
//static int step = 6;
void drive_ramp(int left, int right)
{
if(!abd_intTabSetup)
{
interpolation_table_setup();
set_drive_speed(0, 0);
pause(40);
}
while((left != abd_speedL) || (right != abd_speedR))
{
drive_rampStep(left, right);
}
}
int forward(){
drive_rampStep(55,55);
return 2;
}
void recto(){
drive_rampStep(50,50);
}
