C++ (Cpp) BUMPERS_setStateChangedHandler示例

示例#1

文件： _sagan_1_template.c 项目： Malgueroc/Sagan-1

int main(void) {
    
    initRobotBase();

    setLEDs(0b111111);
    mSleep(1500);
    setLEDs(0b000000);

    // Set Bumpers state changed event handler:
    BUMPERS_setStateChangedHandler(bumpersStateChanged);

    powerON(); // Turn Encoders, Motor Current Sensors 
    // ATTENTION: Automatic Motor control will not work without this!

    /* RP6 SAGAN GENERATED COMMANDS START */
    
    /*{SAGAN1_COMMANDS_HERE}*/
    
    /* RP6 SAGAN GENERATED COMMANDS STOP */

    stop();
    moveAtSpeed(0, 0);
    BUMPERS_setStateChangedHandler(BUMPERS_stateChanged_empty);
    setLEDs(0b000000);

    while (true) {
        statusLEDs.LED2 = !statusLEDs.LED2; // Toggle LED bit in LED shadow register... 
        statusLEDs.LED5 = !statusLEDs.LED5;
        updateStatusLEDs();
        mSleep(500);
        task_RP6System();
    }
    return 0;
}

示例#2

文件： RP6Base_Move_04_uncommented.c 项目： LehmRob/robby

int main(void)
{
	initRobotBase(); 
	setLEDs(0b111111);
	mSleep(2500);
	setLEDs(0b100100); 

	BUMPERS_setStateChangedHandler(bumpersStateChanged);
	
	powerON(); 
	
	while(true) 
	{		
		behaviourController();
		task_RP6System();
	}
	return 0;
}