ABELI
KreuHatzl
Revision 0:3aa1e3850dcc, committed 2015-10-21
- Comitter:
- MarkusSchieder
- Date:
- Wed Oct 21 17:39:45 2015 +0000
- Commit message:
- KreuHatzl
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BertlLib.lib Wed Oct 21 17:39:45 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/hollegha2/code/BertlLib/#78243412d2b3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Oct 21 17:39:45 2015 +0000
@@ -0,0 +1,116 @@
+
+#include "mbed.h"
+#include "Serial_HL.h"
+#include "Bertl14.h"
+#include "BertlObjects.h"
+
+void DriveUntilObstacle();
+void Turn180();
+void BlinkTask();
+Timer t1;
+int i,j;
+
+int main(void)
+{
+ i=0;
+ j=0;
+ t1.start();
+ InitBertl();
+ pex.ClearLeds();
+ leds = 9;
+ pex.WaitUntilFrontButtonPressed();
+ leds=6;
+ wait(0.8);
+ pex.WaitUntilFrontButtonPressed();
+ leds=0;
+
+ while(1) {
+ DriveUntilObstacle();
+ wait(1);
+ Turn180();
+ wait(1);
+ }
+ return 1;
+}
+
+void DriveUntilObstacle()
+{
+ // Motoren ein
+ mL.SetPow(0.3);
+ mR.SetPow(0.3);
+ // in einer While-Schleife warten bis Distanz kleiner MinDistance
+ while(1) {
+ //mL.SetPow(0.5);
+ //mR.SetPow(0.5);
+ us.StartMeas();
+ wait_ms(10);
+ BlinkTask();
+ if ((us.distCM*100.0) < 500.0) {
+ // Motoren aus
+ if (i==0){
+ i=1;
+ }
+ else {
+ i=0;
+ }
+ mL.SetPow(0.0);
+ mR.SetPow(0.0);
+ pex.ClearLeds();
+ break;
+ }
+ }
+}
+
+void Turn180()
+{
+ if (j==0){
+ // Motoren auf 0.5 bis 0.7
+ mL.SetPow(0.7);
+ mR.SetPow(-0.7);
+ j=1;
+ pex.SetLeds(LED_FR1|LED_BR1);
+ }
+ else{
+ mL.SetPow(-0.7);
+ mR.SetPow(0.7);
+ j=0;
+ pex.SetLeds(LED_FL1|LED_BL1);
+ }
+ mL.encCnt=mR.encCnt=0;
+
+ // in einer While-Schleife warten bis
+ // bei !!!beiden!!! Motoren die Ticks für eine 180° Drehung erreicht sind
+ while (1) {
+ if (mL.encCnt>20) {
+ mL.SetPow(0.0);
+ }
+ if (mR.encCnt>20) {
+ mR.SetPow(0.0);
+ }
+ if (mL.encCnt>20 && mR.encCnt>20)
+ pex.ClearLeds();
+ break;
+ }
+ // Motoren ausschalten
+ mL.SetPow(0.0);
+ mR.SetPow(0.0);
+
+}
+
+void BlinkTask()
+{
+
+ if (t1.read_ms()>100) {
+ if (i==0){
+ pex.SetLeds(LED_FR1|LED_FL1);
+ }
+ else {
+ pex.SetLeds(LED_BR1|LED_BL1);
+ }
+ }
+ if (t1.read_ms()>200){
+ pex.ClearLeds();
+ t1.reset();
+ }
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Wed Oct 21 17:39:45 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac \ No newline at end of file