BERTL_CHEL18 / Mbed 2 deprecated Func_Bertl_Ultra

ultra sonic sensor asdded

Dependencies:   HCSR mbed

Fork of func_Bertl by BULME_BERTL14

main.cpp@1:f2d7bec926ce, 2015-01-02 (annotated)

Committer:
bulmecisco
Date:
Fri Jan 02 19:32:23 2015 +0000
Revision:
1:f2d7bec926ce
Parent:
0:0b7c22955b8c
Child:
2:43547160ab56
ur_Karel with speed control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Enenkel 0:0b7c22955b8c 1 /***********************************
bulmecisco 1:f2d7bec926ce 2 name: Karel
bulmecisco 1:f2d7bec926ce 3 author: PE HTL BULME
bulmecisco 1:f2d7bec926ce 4 email: pe@bulme.at
Enenkel 0:0b7c22955b8c 5 description:
bulmecisco 1:f2d7bec926ce 6 Funktionen von Karel The Robot
Enenkel 0:0b7c22955b8c 7
bulmecisco 1:f2d7bec926ce 8
Enenkel 0:0b7c22955b8c 9 ***********************************/
Enenkel 0:0b7c22955b8c 10 #include "mbed.h"
Enenkel 0:0b7c22955b8c 11
bulmecisco 1:f2d7bec926ce 12 void move()
bulmecisco 1:f2d7bec926ce 13 {
bulmecisco 1:f2d7bec926ce 14 DigitalOut MotorL_EN(p34);
bulmecisco 1:f2d7bec926ce 15 DigitalOut MotorL_FORWARD(P1_1);
bulmecisco 1:f2d7bec926ce 16 //DigitalOut MotorL_REVERSE(P1_0);
bulmecisco 1:f2d7bec926ce 17
bulmecisco 1:f2d7bec926ce 18 DigitalOut MotorR_EN(p36);
bulmecisco 1:f2d7bec926ce 19 DigitalOut MotorR_FORWARD(P1_3);
bulmecisco 1:f2d7bec926ce 20 //DigitalOut MotorR_REVERSE(P1_4);
bulmecisco 1:f2d7bec926ce 21
bulmecisco 1:f2d7bec926ce 22 MotorR_EN=MotorL_EN=1; // Beide Motoren ENABLE
bulmecisco 1:f2d7bec926ce 23
bulmecisco 1:f2d7bec926ce 24 MotorR_FORWARD = MotorL_FORWARD = 1; // Beide Motoren vorwärts EIN
bulmecisco 1:f2d7bec926ce 25 wait_ms(250); // warte 0,25 Sekunde
bulmecisco 1:f2d7bec926ce 26 MotorR_FORWARD = MotorL_FORWARD = 0; // Motoren AUS
bulmecisco 1:f2d7bec926ce 27 //wait_ms(250);
bulmecisco 1:f2d7bec926ce 28 }
bulmecisco 1:f2d7bec926ce 29
bulmecisco 1:f2d7bec926ce 30 void moveSpeed(float speedy)
bulmecisco 1:f2d7bec926ce 31 {
bulmecisco 1:f2d7bec926ce 32 DigitalOut MotorL_EN(p34);
bulmecisco 1:f2d7bec926ce 33 DigitalOut MotorL_FORWARD(P1_1);
bulmecisco 1:f2d7bec926ce 34 //DigitalOut MotorL_REVERSE(P1_0);
Enenkel 0:0b7c22955b8c 35
bulmecisco 1:f2d7bec926ce 36 DigitalOut MotorR_EN(p36);
bulmecisco 1:f2d7bec926ce 37 DigitalOut MotorR_FORWARD(P1_3);
bulmecisco 1:f2d7bec926ce 38 //DigitalOut MotorR_REVERSE(P1_4);
bulmecisco 1:f2d7bec926ce 39 PwmOut mg1(p34); //PWM Ausgang zum Motor
bulmecisco 1:f2d7bec926ce 40 PwmOut mg2(p36);
bulmecisco 1:f2d7bec926ce 41 mg1=mg2=speedy;
bulmecisco 1:f2d7bec926ce 42
bulmecisco 1:f2d7bec926ce 43 MotorR_EN=MotorL_EN=1; // Beide Motoren ENABLE
bulmecisco 1:f2d7bec926ce 44
bulmecisco 1:f2d7bec926ce 45 MotorR_FORWARD = MotorL_FORWARD = 1; // Beide Motoren vorwärts EIN
bulmecisco 1:f2d7bec926ce 46 wait_ms(2000); // warte 0,25 Sekunde
bulmecisco 1:f2d7bec926ce 47 MotorR_FORWARD = MotorL_FORWARD = 0; // Motoren AUS
bulmecisco 1:f2d7bec926ce 48 MotorR_EN=MotorL_EN=0; // Beide Motoren ENABLE
bulmecisco 1:f2d7bec926ce 49 wait_ms(500);
bulmecisco 1:f2d7bec926ce 50 }
bulmecisco 1:f2d7bec926ce 51 void move(int anzahl)
bulmecisco 1:f2d7bec926ce 52 {
bulmecisco 1:f2d7bec926ce 53
bulmecisco 1:f2d7bec926ce 54 for(int i=0; i < anzahl; i++)
bulmecisco 1:f2d7bec926ce 55 move();
bulmecisco 1:f2d7bec926ce 56
bulmecisco 1:f2d7bec926ce 57 }
bulmecisco 1:f2d7bec926ce 58
bulmecisco 1:f2d7bec926ce 59 void turnLeft()
bulmecisco 1:f2d7bec926ce 60 {
bulmecisco 1:f2d7bec926ce 61 // DigitalOut MotorL_EN(p34);
bulmecisco 1:f2d7bec926ce 62 // DigitalOut MotorL_FORWARD(P1_1);
bulmecisco 1:f2d7bec926ce 63 // DigitalOut MotorL_REVERSE(P1_0);
bulmecisco 1:f2d7bec926ce 64
bulmecisco 1:f2d7bec926ce 65 DigitalOut MotorR_EN(p36);
bulmecisco 1:f2d7bec926ce 66 DigitalOut MotorR_FORWARD(P1_3);
bulmecisco 1:f2d7bec926ce 67 // DigitalOut MotorR_REVERSE(P1_4);
bulmecisco 1:f2d7bec926ce 68 // MotorL_EN=1;
bulmecisco 1:f2d7bec926ce 69
bulmecisco 1:f2d7bec926ce 70 MotorR_EN=1; // rechten Motor ENABLE
bulmecisco 1:f2d7bec926ce 71
bulmecisco 1:f2d7bec926ce 72 MotorR_FORWARD = 1; // rechter Motor vorwärts EIN
bulmecisco 1:f2d7bec926ce 73 wait_ms(750); // warte (90°)
bulmecisco 1:f2d7bec926ce 74 MotorR_FORWARD = 0; // Motoren AUS
bulmecisco 1:f2d7bec926ce 75 }
Enenkel 0:0b7c22955b8c 76
Enenkel 0:0b7c22955b8c 77 // ************* Hauptprogramm ************
bulmecisco 1:f2d7bec926ce 78 int main()
bulmecisco 1:f2d7bec926ce 79 {
bulmecisco 1:f2d7bec926ce 80 //move();
bulmecisco 1:f2d7bec926ce 81 //turnLeft();
bulmecisco 1:f2d7bec926ce 82 DigitalOut LED_D10(P1_8); // LED D10 und D13 definieren
bulmecisco 1:f2d7bec926ce 83 DigitalOut LED_D11(P1_9); // LED D10 und D13 definieren
bulmecisco 1:f2d7bec926ce 84 DigitalOut LED_D12(P1_10); // LED D10 und D13 definieren
bulmecisco 1:f2d7bec926ce 85 DigitalOut LED_D13(P1_11); //
Enenkel 0:0b7c22955b8c 86
bulmecisco 1:f2d7bec926ce 87 moveSpeed(0.25);
bulmecisco 1:f2d7bec926ce 88 LED_D10 = 1;
bulmecisco 1:f2d7bec926ce 89 moveSpeed(0.3);
bulmecisco 1:f2d7bec926ce 90 LED_D11 = 1;
bulmecisco 1:f2d7bec926ce 91 moveSpeed(0.4);
bulmecisco 1:f2d7bec926ce 92 LED_D12 = 1;
bulmecisco 1:f2d7bec926ce 93 moveSpeed(0.5);
bulmecisco 1:f2d7bec926ce 94 LED_D13 = 1;
bulmecisco 1:f2d7bec926ce 95 moveSpeed(0.6);
bulmecisco 1:f2d7bec926ce 96 LED_D10 = LED_D11 = LED_D12 = LED_D13 = 0;
bulmecisco 1:f2d7bec926ce 97 moveSpeed(0.7);
bulmecisco 1:f2d7bec926ce 98 LED_D10 = 1;
bulmecisco 1:f2d7bec926ce 99 moveSpeed(0.8);
bulmecisco 1:f2d7bec926ce 100 LED_D11 = 1;
bulmecisco 1:f2d7bec926ce 101 moveSpeed(0.9);
bulmecisco 1:f2d7bec926ce 102 LED_D12 = 1;
bulmecisco 1:f2d7bec926ce 103 moveSpeed(1.0);
bulmecisco 1:f2d7bec926ce 104 LED_D10 = LED_D11 = LED_D12 = LED_D13 = 1;
bulmecisco 1:f2d7bec926ce 105 //wait(2);
bulmecisco 1:f2d7bec926ce 106 //turnLeft();
bulmecisco 1:f2d7bec926ce 107 //move();
bulmecisco 1:f2d7bec926ce 108 //turnLeft();
bulmecisco 1:f2d7bec926ce 109 //move(5);
bulmecisco 1:f2d7bec926ce 110
bulmecisco 1:f2d7bec926ce 111 //wait(2);
bulmecisco 1:f2d7bec926ce 112 return 0;
bulmecisco 1:f2d7bec926ce 113 }