Autonomous modes?

[Mark McLeod]

Originally Posted by Buster

Looking for an autonomous code to use as a test. please reply ASAP

/************************************************** *******
* FUNCTION NAME: Sample_Auto_1
* PURPOSE: Primitive form of autonomous mode program
* This overrides the PWM joystick inputs
* CALLED FROM: user_routines.c, Default_Routine
* ARGUMENTS: none
* RETURNS: void
************************************************** *******/
void Sample_Auto_1(void)
{
static unsigned int counter=0;

/* Sample primitive autonomous mode
* This uses a counter of the number of slow loops as a measurement for how long
* to execute any of the PWM overrides below.
* Note: A timer can also be used in place of "counter"
*/

if (counter<100){
counter++;
PWM_in1 = 200;
PWM_in2 = 200;
}
else if(counter< 150){
counter++;
PWM_in1 = 127;
PWM_in2 = 10;
}
else if(counter< 500){
counter++;
PWM_in1 = 127;
PWM_in2 = 127;
}
else if(counter<700){
counter++;
PWM_in1=254;
PWM_in2=1;
}
else if(counter<900){
counter++;
PWM_in1=1;
PWM_in2=127;
}
else /* Make sure it always stops at the end */
{
PWM_in1 = 127;
PWM_in2 = 127;
}

} /* End Sample_Auto_1 */