30 lines
585 B
C++
30 lines
585 B
C++
#include "hardware.h"
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#include "Motor.h"
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#include "Navigation.h"
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Motor *motorLeft = new Motor(&PORTD, &OCR1BL, 0x01, 0x02);
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Motor *motorBack = new Motor(&PORTD, &OCR1AL, 0x04, 0x08);
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Motor *motorRight = new Motor(&PORTB, &OCR0, 0x01, 0x02);
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Navigation *navigation = new Navigation(motorLeft, 60.0, motorBack, 180.0, motorRight, 300.0);
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static void delay() {
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for(unsigned long i = 0; i < 25000; i++);
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}
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int main() {
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initHardware();
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navigation->setSpeed(1.0);
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for(int i = 0; ; i = (i+1)%360) {
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navigation->setDirection(i);
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delay();
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}
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return 0;
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}
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