HeadingCar.ino

A basic example on how to use the core functionality of the HeadingCar class

#include <Smartcar.h>
 
const int GYROSCOPE_OFFSET         = 37;
const unsigned long PRINT_INTERVAL = 100;
unsigned long previousPrintout     = 0;
 
ArduinoRuntime arduinoRuntime;
BrushedMotor leftMotor(arduinoRuntime, smartcarlib::pins::v2::leftMotorPins);
BrushedMotor rightMotor(arduinoRuntime, smartcarlib::pins::v2::rightMotorPins);
DifferentialControl control(leftMotor, rightMotor);
 
GY50 gyroscope(arduinoRuntime, GYROSCOPE_OFFSET);
 
HeadingCar car(control, gyroscope);
 
void setup()
{
    Serial.begin(9600);
}
 
void loop()
{
    // Update the heading readings
    car.update();
    unsigned long currentTime = millis();
    if (currentTime >= previousPrintout + PRINT_INTERVAL)
    {
        previousPrintout = currentTime;
        Serial.println(car.getHeading());
    }
}