void CombinedMotorWidget::velChanged(double vel)
{
ui->velocityStop->setEnabled(qAbs(vel) > 0.5);
move_at_velocity(ui->motors->currentIndex(), vel);
#ifdef A_KOVAN
publish();
#endif
}
/*
* Class: Motor
* Method: move_at_velocity
* Signature: (II)I
*/
JNIEXPORT jint JNICALL Java_cbccore_low_Motor_move_1at_1velocity(JNIEnv* env, jobject obj, jint port, jint speed)
{
#ifdef CBC
return move_at_velocity(port, speed);
#else
printf("Java_cbccore_low_Motor_move_1at_1velocity stub\n");
return -1;
#endif
}
void moveTowardsLight() {
int lightValueRight = analog10(6);
int lightValueLeft = analog10(7);
int rightVelocity = scale * (0 - lightValueLeft + 1000);
int leftVelocity = scale * (0 - lightValueRight + 1000);
rightVelocity = (rightVelocity < 0) ? 0 : rightVelocity; //Min of 0 velocity
leftVelocity = (leftVelocity < 0) ? 0 : leftVelocity; //Min of 0 velocity
rightVelocity = (rightVelocity > 1000) ? 1000 : rightVelocity; //max of 1000 velocity
leftVelocity = (leftVelocity > 1000) ? 1000 : leftVelocity; //max of 1000 velocity
move_at_velocity(0, rightVelocity); // Right wheel
move_at_velocity(3, leftVelocity); // Left wheel
printf("Right vel: %d Left vel: %d\n",rightVelocity,leftVelocity);
}
int main()
{
while(1)
{
int isPressed = digital(15);
if(isPressed == 1)
{
move_at_velocity(0,-600);
move_at_velocity(3,0);
msleep(3000);
move_at_velocity(0,-400);
move_at_velocity(3,-400);
msleep(3000);
move_at_velocity(0,0);
move_at_velocity(3,-500);
msleep(3000);
} else {
moveTowardsLight();
}
}
return;
}
int mav(int motor, int velocity)
{
return move_at_velocity(motor, velocity);
}
