summaryrefslogtreecommitdiffstats
path: root/main.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'main.cpp')
-rw-r--r--main.cpp25
1 files changed, 25 insertions, 0 deletions
diff --git a/main.cpp b/main.cpp
index 2a3f761..f356c52 100644
--- a/main.cpp
+++ b/main.cpp
@@ -1,5 +1,30 @@
+#include "hardware.h"
+#include "Motor.h"
+#include "Navigation.h"
+
+
+Motor *motorLeft = new Motor(&PORTD, &OCR1BL, 0x01, 0x02);
+Motor *motorBack = new Motor(&PORTD, &OCR1AL, 0x04, 0x08);
+Motor *motorRight = new Motor(&PORTB, &OCR0, 0x01, 0x02);
+
+Navigation *navigation = new Navigation(motorLeft, 60.0, motorBack, 180.0, motorRight, 300.0);
+
+
+static void delay() {
+ for(unsigned long i = 0; i < 25000; i++);
+}
+
+
int main() {
+ initHardware();
+
+ navigation->setSpeed(1.0);
+ for(int i = 0; ; i = (i+1)%360) {
+ navigation->setDirection(i);
+
+ delay();
+ }
return 0;
}