From 7da669b97ec71f138c74d562b8a3b219d3f98a50 Mon Sep 17 00:00:00 2001
From: neoraider <devnull@localhost>
Date: Fri, 13 Apr 2007 17:58:03 +0000
Subject: Makefile angelegt; Grundfunktionen erweitert

---
 main.cpp | 25 +++++++++++++++++++++++++
 1 file changed, 25 insertions(+)

(limited to 'main.cpp')

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;
 }
-- 
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