void main()
{
long int t=0;
//initialization
cereb_init();
scan(-totalangle/3+scanmod);
while(!button(A));
while(1)//code below here only
{
sensor_read();//sense
interpretworld();//plan
//orient(rotate_speed,trans_angle,0);//speed modified in transpathplan
//printf("rot:%ld tangle:%ld magnitude:%d\r\n", rotate_speed, trans_angle, trans_speed);
IRprintmap();
delay_ms(200);
//circle test
/*printf("%ld\r\n",t);
orient(0,t,0);//rotate_speed, trans_angle, trans_speed
delay_ms(11);
t++;
if (t==360)
t=0;*/
}
while(1);
}
This main function is copy from "PIC 16F877 source code for omni-wheel robots" .
I can't find it called about whitch function control servos!
Can you help me understand this source code? Thanks!
Source code url:
http://www.societyofrobots.com/downloads/fuzzy_C_source_code.zip
