示例#1
0
void loop()
{
    // Set LED green.
    set_color(RGB(0, 1, 0));
    // Spinup motors to overcome friction.
    spinup_motors();
    // Move straight for 2 seconds (2000 ms).
    set_motors(kilo_straight_left, kilo_straight_right);
    delay(2000);
    
    // Set LED red.
    set_color(RGB(1, 0, 0));
    // Spinup motors to overcome friction.
    spinup_motors();
    // Turn left for 2 seconds (2000 ms).
    set_motors(kilo_turn_left, 0);
    delay(2000);
    
    // Set LED blue.
    set_color(RGB(0, 0, 1));
    // Spinup motors to overcome friction.
    spinup_motors();
    // Turn right for 2 seconds (2000 ms).
    set_motors(0, kilo_turn_right);
    delay(2000);
    
    // Set LED off.
    set_color(RGB(0, 0, 0));
    // Stop for half a second (500 ms).
    set_motors(0, 0);
    delay(500);
}
示例#2
0
/*-------------------------------------------------------------------*/
void set_motion( motion_t new_motion_type ) {
   if( current_motion_type != new_motion_type ){
      switch( new_motion_type ) {
      case FORWARD:
         spinup_motors();	
         set_motors(kilo_straight_left,kilo_straight_right);
         break;
      case TURN_LEFT:
         spinup_motors();
         set_motors(kilo_turn_left,0);
         break;
      case TURN_RIGHT:
         spinup_motors();
         set_motors(0,kilo_turn_right);
         break;
      case STOP:
      default:
         set_motors(0,0);         
      }
      current_motion_type = new_motion_type;
   }
}
void loop()
{
   printf("kilo_ticks = %u\n", kilo_ticks);
   // Update the state every 64 clock ticks (roughly 2 seconds).
   if (kilo_ticks > (last_state_update + 64))
   {
      last_state_update = kilo_ticks;
        
      if (state == FORWARD_GREEN)
      {
         set_color(RGB(0, 1, 0));
         spinup_motors();
         set_motors(kilo_straight_left, kilo_straight_right);
            
         // Set the next state.
         state = LEFT_RED;
      }
      else if (state == LEFT_RED)
      {
         set_color(RGB(1, 0, 0));
         spinup_motors();
         set_motors(kilo_turn_left, 0);
            
         // Set the next state.
         state = RIGHT_BLUE;
      }
      else if (state == RIGHT_BLUE)
      {
         set_color(RGB(0, 0, 1));
         spinup_motors();
         set_motors(0, kilo_turn_right);
            
         // Set the next state.
         state = FORWARD_GREEN;
      }
   }
}
示例#4
0
void goForward (){
    spinup_motors();
    set_motors(kilo_straight_left, kilo_straight_right);
    set_color (RGB(0,0,1));
}
示例#5
0
void goRight (){
    spinup_motors();
    set_motors(0, kilo_turn_right);
    set_color (RGB(0,0,1));
}
示例#6
0
void goLeft (){
    spinup_motors();
    set_motors(kilo_turn_left, 0);
    set_color (RGB(1,0,0));
}