Diff: main.cpp

Revision:

5:f6930387a28e

Parent:

4:2bf2ab6a1163

Child:

6:dc02e3e244e6

--- a/main.cpp	Fri May 13 13:17:34 2016 +0000
+++ b/main.cpp	Wed May 25 07:42:17 2016 +0000
@@ -14,13 +14,16 @@
 #include "mbed.h"
 
 // ************ DEKLARATIONEN **************
-DigitalOut Von (P2_13);           // Motor Spannung ab BERTL15 nötig !
-DigitalOut MotorL_EN(P1_19);      // Enable        OB DIE LINKS ODER RECHTS IST NOCH NICHT KLAR !
-DigitalOut MotorL_FORWARD(P2_15); // Forwerts
-DigitalOut MotorL_REVERSE(P2_14); // Rückwerts
+DigitalOut Von (P2_13);  
 
-DigitalOut MotorR_EN(P2_19);      //Die Leitung führt zum Pin PO_21 am Prozessor
-DigitalOut MotorR_FORWARD(P2_20); //Die Leitung führt zum Pin P1_3 am Prozessor
+PwmOut MotorL (P1_19);
+DigitalOut MotorL_EN(P1_19);      
+DigitalOut MotorL_FORWARD(P2_15); 
+DigitalOut MotorL_REVERSE(P2_14); 
+
+PwmOut MotorR (P2_19);
+DigitalOut MotorR_EN(P2_19);      
+DigitalOut MotorR_FORWARD(P2_20); 
 DigitalOut MotorR_REVERSE(P2_21);
 
 
@@ -46,83 +49,99 @@
     DigitalOut TA1 (P1_23);
     Von=1;
     MotorR_EN=MotorL_EN=1;
-    int a;
-    a=0;
-    while(a<4) {
+    //int a;
+    //a=0;
+    while(1) {
+        MotorL= (0.75);  //Bereich zwischen 1 und 0 stellt dei Geschwindigkeit ein.
+        MotorR= (1);     //Bereich zwischen 1 und 0 stellt dei Geschwindigkeit ein.
+        if(TA1==1)
+        {
+            MotorL_REVERSE=1;
+            MotorR_REVERSE=1;
+            wait(2.0);
+            MotorR_REVERSE=0;
+            MotorL_REVERSE=0;
+            wait (0.5);
+            
+            MotorR_REVERSE=1;
+            MotorL_FORWARD=1;
+            wait (0.25);
+            MotorR_REVERSE=0;
+            MotorL_FORWARD=0;
+        }
         
-
-
-
-        int b;
-        //int c;
-        int d;
-
-        LED1=LED2=LED4=LED5=LED6=LED7=LED8=LED9=LED10=LED11=LED12=LED13=LED20=LED24=1;
-        LED1=LED4=0;
-        LED20=LED24=0;
-        MotorL_FORWARD = 1;
-        MotorR_FORWARD = 1;
-
-        wait (7.0);
-
-        MotorL_FORWARD = 0;
-        MotorR_FORWARD = 0;
-
-        LED1=LED4=1;
-        LED7=LED9=0;
-        b=0;
-        while (b<2) {
-            LED8=0;
-            LED5=0;
+        else
+        {  
+            int b;
+            //int c;
+            int d;
+    
+            LED1=LED2=LED4=LED5=LED6=LED7=LED8=LED9=LED10=LED11=LED12=LED13=LED20=LED24=1;
+            LED1=LED4=0;
+            LED20=LED24=0;
+            MotorL_FORWARD = 1;
+            MotorR_FORWARD = 1;
+    
+            wait (7.0);
+    
+            MotorL_FORWARD = 0;
+            MotorR_FORWARD = 0;
+    
+            LED1=LED4=1;
+            LED7=LED9=0;
+            b=0;
+            while (b<2) {
+                LED8=0;
+                LED5=0;
+                wait (0.5);
+                LED5=1;
+                LED8=1;
+                wait (0.5);
+                b=b++;
+            }
+    
+    
+    
+            MotorL_FORWARD =1;
+            MotorR_REVERSE =1;
+            wait (0.25);
+            MotorL_FORWARD = 0;
+            MotorR_REVERSE = 0;
+            wait (2.0);
+            LED7=LED9= 1;
+    
+            LED1=LED4=0;
+            MotorL_FORWARD=1;
+            MotorR_FORWARD=1;
+            wait (4.0);
+            MotorL_FORWARD=0;
+            MotorR_FORWARD=0;
+            wait (0.0);
+            LED1=LED4=1;
+    
+            LED7=LED9=0;
+    
+            d=0;
+            while(d<2) {
+                LED8=LED5=0;
+                wait (0.5);
+                LED8=LED5=1;
+                wait (0.5);
+                d=d++;
+            }
+            MotorL_FORWARD=1;
+            MotorR_REVERSE=1;
+            wait (0.25);
+            MotorL_FORWARD=0;
+            MotorR_REVERSE=0;
             wait (0.5);
-            LED5=1;
-            LED8=1;
-            wait (0.5);
-            b=b++;
+            LED7=LED9=1;
+            LED1=LED4=LED20=LED24=0;
         }
 
-
-
-        MotorL_FORWARD =1;
-        MotorR_REVERSE =1;
-        wait (0.25);
-        MotorL_FORWARD = 0;
-        MotorR_REVERSE = 0;
-        wait (2.0);
-        LED7=LED9= 1;
-
-        LED1=LED4=0;
-        MotorL_FORWARD=1;
-        MotorR_FORWARD=1;
-        wait (4.0);
-        MotorL_FORWARD=0;
-        MotorR_FORWARD=0;
-        wait (0.0);
-        LED1=LED4=1;
-
-        LED7=LED9=0;
+        
 
-        d=0;
-        while(d<2) {
-            LED8=LED5=0;
-            wait (0.5);
-            LED8=LED5=1;
-            wait (0.5);
-            d=d++;
-        }
-        MotorL_FORWARD=1;
-        MotorR_REVERSE=1;
-        wait (0.25);
-        MotorL_FORWARD=0;
-        MotorR_REVERSE=0;
-        wait (0.5);
-        LED7=LED9=1;
-        LED1=LED4=LED20=LED24=0;
-
-
-
-
-        a=a++;
+        //a=a++;
 
     }
 }