BULME_BHEL20 / Mbed 2 deprecated BertlKurven

Fährt 4*2 Kurven und stoppt dann

Dependencies:   mbed

Fork of _B16_T3_Motor by Gottfried Enenkel

main.cpp@4:2bf2ab6a1163, 2016-05-13 (annotated)

Committer:
PatrickMarterer
Date:
Fri May 13 13:17:34 2016 +0000
Revision:
4:2bf2ab6a1163
Parent:
3:acd2b6fdcd7f 
Bertl f?hrt 4*2 Kurven und bleibt dann stehen + LED's aus

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Enenkel 0:a8a0195ed7dc 1 /***********************************
Enenkel 3:acd2b6fdcd7f 2 name: BERTL_16_MOTOR_TEST 8.1.2016
Enenkel 1:0f7c167a4f97 3 author: Gottfried Enenkel HTL BULME
Enenkel 1:0f7c167a4f97 4 email: ene@bulme.at
Enenkel 0:a8a0195ed7dc 5 description:
PatrickMarterer 4:2bf2ab6a1163 6 Der BERTL fährt 1 sec lang VORWÄRTS!
Enenkel 1:0f7c167a4f97 7 Danach steht er für 1 sec
PatrickMarterer 4:2bf2ab6a1163 8
PatrickMarterer 4:2bf2ab6a1163 9 Wenn der Motor richtig eingebaut ist,
Enenkel 1:0f7c167a4f97 10 steht über dem Linken Anschluß ein PLUS
PatrickMarterer 4:2bf2ab6a1163 11 Wenn sich der BERTL dreht, ist ein Motor verkehrt eingebaut.
PatrickMarterer 4:2bf2ab6a1163 12
Enenkel 1:0f7c167a4f97 13 ***********************************/
Enenkel 1:0f7c167a4f97 14 #include "mbed.h"
Enenkel 1:0f7c167a4f97 15
Enenkel 1:0f7c167a4f97 16 // ************ DEKLARATIONEN **************
Enenkel 3:acd2b6fdcd7f 17 DigitalOut Von (P2_13); // Motor Spannung ab BERTL15 nötig !
PatrickMarterer 4:2bf2ab6a1163 18 DigitalOut MotorL_EN(P1_19); // Enable OB DIE LINKS ODER RECHTS IST NOCH NICHT KLAR !
PatrickMarterer 4:2bf2ab6a1163 19 DigitalOut MotorL_FORWARD(P2_15); // Forwerts
PatrickMarterer 4:2bf2ab6a1163 20 DigitalOut MotorL_REVERSE(P2_14); // Rückwerts
Enenkel 1:0f7c167a4f97 21
Enenkel 3:acd2b6fdcd7f 22 DigitalOut MotorR_EN(P2_19); //Die Leitung führt zum Pin PO_21 am Prozessor
PatrickMarterer 4:2bf2ab6a1163 23 DigitalOut MotorR_FORWARD(P2_20); //Die Leitung führt zum Pin P1_3 am Prozessor
PatrickMarterer 4:2bf2ab6a1163 24 DigitalOut MotorR_REVERSE(P2_21);
PatrickMarterer 4:2bf2ab6a1163 25
Enenkel 0:a8a0195ed7dc 26
Enenkel 1:0f7c167a4f97 27 // ************* Hauptprogramm ************
PatrickMarterer 4:2bf2ab6a1163 28 int main()
PatrickMarterer 4:2bf2ab6a1163 29 {
PatrickMarterer 4:2bf2ab6a1163 30 DigitalOut LED1 (P1_10);
PatrickMarterer 4:2bf2ab6a1163 31 DigitalOut LED2 (P1_11);
PatrickMarterer 4:2bf2ab6a1163 32 DigitalOut LED3 (P1_12);
PatrickMarterer 4:2bf2ab6a1163 33 DigitalOut LED4 (P1_12);
PatrickMarterer 4:2bf2ab6a1163 34 DigitalOut LED5 (P1_13);
PatrickMarterer 4:2bf2ab6a1163 35 DigitalOut LED6 (P1_14);
PatrickMarterer 4:2bf2ab6a1163 36 DigitalOut LED7 (P1_15);
PatrickMarterer 4:2bf2ab6a1163 37 DigitalOut LED8 (P1_16);
PatrickMarterer 4:2bf2ab6a1163 38 DigitalOut LED9 (P1_17);
PatrickMarterer 4:2bf2ab6a1163 39 DigitalOut LED10 (P1_18);
PatrickMarterer 4:2bf2ab6a1163 40 DigitalOut LED11 (P2_16);
PatrickMarterer 4:2bf2ab6a1163 41 DigitalOut LED12 (P1_20);
PatrickMarterer 4:2bf2ab6a1163 42 DigitalOut LED13 (P1_21);
PatrickMarterer 4:2bf2ab6a1163 43 DigitalOut LED20 (P1_5);
PatrickMarterer 4:2bf2ab6a1163 44 DigitalOut LED24 (P1_5);
PatrickMarterer 4:2bf2ab6a1163 45 DigitalOut LED25 (P1_6);
PatrickMarterer 4:2bf2ab6a1163 46 DigitalOut TA1 (P1_23);
PatrickMarterer 4:2bf2ab6a1163 47 Von=1;
PatrickMarterer 4:2bf2ab6a1163 48 MotorR_EN=MotorL_EN=1;
PatrickMarterer 4:2bf2ab6a1163 49 int a;
PatrickMarterer 4:2bf2ab6a1163 50 a=0;
PatrickMarterer 4:2bf2ab6a1163 51 while(a<4) {
PatrickMarterer 4:2bf2ab6a1163 52
PatrickMarterer 4:2bf2ab6a1163 53
PatrickMarterer 4:2bf2ab6a1163 54
PatrickMarterer 4:2bf2ab6a1163 55
PatrickMarterer 4:2bf2ab6a1163 56 int b;
PatrickMarterer 4:2bf2ab6a1163 57 //int c;
PatrickMarterer 4:2bf2ab6a1163 58 int d;
PatrickMarterer 4:2bf2ab6a1163 59
PatrickMarterer 4:2bf2ab6a1163 60 LED1=LED2=LED4=LED5=LED6=LED7=LED8=LED9=LED10=LED11=LED12=LED13=LED20=LED24=1;
PatrickMarterer 4:2bf2ab6a1163 61 LED1=LED4=0;
PatrickMarterer 4:2bf2ab6a1163 62 LED20=LED24=0;
PatrickMarterer 4:2bf2ab6a1163 63 MotorL_FORWARD = 1;
PatrickMarterer 4:2bf2ab6a1163 64 MotorR_FORWARD = 1;
PatrickMarterer 4:2bf2ab6a1163 65
PatrickMarterer 4:2bf2ab6a1163 66 wait (7.0);
PatrickMarterer 4:2bf2ab6a1163 67
PatrickMarterer 4:2bf2ab6a1163 68 MotorL_FORWARD = 0;
PatrickMarterer 4:2bf2ab6a1163 69 MotorR_FORWARD = 0;
Enenkel 1:0f7c167a4f97 70
PatrickMarterer 4:2bf2ab6a1163 71 LED1=LED4=1;
PatrickMarterer 4:2bf2ab6a1163 72 LED7=LED9=0;
PatrickMarterer 4:2bf2ab6a1163 73 b=0;
PatrickMarterer 4:2bf2ab6a1163 74 while (b<2) {
PatrickMarterer 4:2bf2ab6a1163 75 LED8=0;
PatrickMarterer 4:2bf2ab6a1163 76 LED5=0;
PatrickMarterer 4:2bf2ab6a1163 77 wait (0.5);
PatrickMarterer 4:2bf2ab6a1163 78 LED5=1;
PatrickMarterer 4:2bf2ab6a1163 79 LED8=1;
PatrickMarterer 4:2bf2ab6a1163 80 wait (0.5);
PatrickMarterer 4:2bf2ab6a1163 81 b=b++;
PatrickMarterer 4:2bf2ab6a1163 82 }
PatrickMarterer 4:2bf2ab6a1163 83
PatrickMarterer 4:2bf2ab6a1163 84
PatrickMarterer 4:2bf2ab6a1163 85
PatrickMarterer 4:2bf2ab6a1163 86 MotorL_FORWARD =1;
PatrickMarterer 4:2bf2ab6a1163 87 MotorR_REVERSE =1;
PatrickMarterer 4:2bf2ab6a1163 88 wait (0.25);
PatrickMarterer 4:2bf2ab6a1163 89 MotorL_FORWARD = 0;
PatrickMarterer 4:2bf2ab6a1163 90 MotorR_REVERSE = 0;
PatrickMarterer 4:2bf2ab6a1163 91 wait (2.0);
PatrickMarterer 4:2bf2ab6a1163 92 LED7=LED9= 1;
PatrickMarterer 4:2bf2ab6a1163 93
PatrickMarterer 4:2bf2ab6a1163 94 LED1=LED4=0;
PatrickMarterer 4:2bf2ab6a1163 95 MotorL_FORWARD=1;
PatrickMarterer 4:2bf2ab6a1163 96 MotorR_FORWARD=1;
PatrickMarterer 4:2bf2ab6a1163 97 wait (4.0);
PatrickMarterer 4:2bf2ab6a1163 98 MotorL_FORWARD=0;
PatrickMarterer 4:2bf2ab6a1163 99 MotorR_FORWARD=0;
PatrickMarterer 4:2bf2ab6a1163 100 wait (0.0);
PatrickMarterer 4:2bf2ab6a1163 101 LED1=LED4=1;
PatrickMarterer 4:2bf2ab6a1163 102
PatrickMarterer 4:2bf2ab6a1163 103 LED7=LED9=0;
PatrickMarterer 4:2bf2ab6a1163 104
PatrickMarterer 4:2bf2ab6a1163 105 d=0;
PatrickMarterer 4:2bf2ab6a1163 106 while(d<2) {
PatrickMarterer 4:2bf2ab6a1163 107 LED8=LED5=0;
PatrickMarterer 4:2bf2ab6a1163 108 wait (0.5);
PatrickMarterer 4:2bf2ab6a1163 109 LED8=LED5=1;
PatrickMarterer 4:2bf2ab6a1163 110 wait (0.5);
PatrickMarterer 4:2bf2ab6a1163 111 d=d++;
PatrickMarterer 4:2bf2ab6a1163 112 }
PatrickMarterer 4:2bf2ab6a1163 113 MotorL_FORWARD=1;
PatrickMarterer 4:2bf2ab6a1163 114 MotorR_REVERSE=1;
PatrickMarterer 4:2bf2ab6a1163 115 wait (0.25);
PatrickMarterer 4:2bf2ab6a1163 116 MotorL_FORWARD=0;
PatrickMarterer 4:2bf2ab6a1163 117 MotorR_REVERSE=0;
PatrickMarterer 4:2bf2ab6a1163 118 wait (0.5);
PatrickMarterer 4:2bf2ab6a1163 119 LED7=LED9=1;
PatrickMarterer 4:2bf2ab6a1163 120 LED1=LED4=LED20=LED24=0;
Enenkel 1:0f7c167a4f97 121
Enenkel 1:0f7c167a4f97 122
Enenkel 1:0f7c167a4f97 123
Enenkel 1:0f7c167a4f97 124
PatrickMarterer 4:2bf2ab6a1163 125 a=a++;
Enenkel 1:0f7c167a4f97 126
PatrickMarterer 4:2bf2ab6a1163 127 }
PatrickMarterer 4:2bf2ab6a1163 128 }
PatrickMarterer 4:2bf2ab6a1163 129 // ************** ENDE *************
Enenkel 1:0f7c167a4f97 130