50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
#include "Thing.h"
|
|
#include "Things/DifferentialDrive.h"
|
|
#include "Things/TouchSensor.h"
|
|
|
|
#if defined(ARDUINO)
|
|
#include "Arduino.h"
|
|
|
|
#else
|
|
#include <chrono>
|
|
#include <thread>
|
|
|
|
using namespace std::this_thread;
|
|
using namespace std::chrono;
|
|
#endif
|
|
|
|
using namespace RoboidControl;
|
|
|
|
int main() {
|
|
// The robot's propulsion is a differential drive
|
|
DifferentialDrive* bb2b = new DifferentialDrive();
|
|
// Is has a touch sensor at the front left of the roboid
|
|
TouchSensor* touchLeft = new TouchSensor(bb2b);
|
|
// and other one on the right
|
|
TouchSensor* touchRight = new TouchSensor(bb2b);
|
|
|
|
// Do forever:
|
|
while (true) {
|
|
// The left wheel turns forward when nothing is touched on the right side
|
|
// and turn backward when the roboid hits something on the right
|
|
float leftWheelSpeed = (touchRight->touchedSomething) ? -600.0f : 600.0f;
|
|
// The right wheel does the same, but instead is controlled by
|
|
// touches on the left side
|
|
float rightWheelSpeed = (touchLeft->touchedSomething) ? -600.0f : 600.0f;
|
|
// When both sides are touching something, both wheels will turn backward
|
|
// and the roboid will move backwards
|
|
bb2b->SetWheelVelocity(leftWheelSpeed, rightWheelSpeed);
|
|
|
|
// Update the roboid state
|
|
bb2b->Update(true);
|
|
|
|
// and sleep for 100ms
|
|
#if defined(ARDUINO)
|
|
delay(100);
|
|
#else
|
|
sleep_for(milliseconds(100));
|
|
#endif
|
|
}
|
|
|
|
return 0;
|
|
} |