BULME_BHEL20 / Mbed 2 deprecated Richtungsnderung_durch_Taster

Vorher bitte schauen welche Taster was bewirken

Dependencies:   mbed

main.cpp@0:8c0ba8d4b439, 2016-05-26 (annotated)

Committer:
benjaminmoerth
Date:
Thu May 26 10:08:35 2016 +0000
Revision:
0:8c0ba8d4b439
Programm2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benjaminmoerth 0:8c0ba8d4b439 1 #include "mbed.h"
benjaminmoerth 0:8c0ba8d4b439 2
benjaminmoerth 0:8c0ba8d4b439 3 DigitalOut LedD1 (P1_10);
benjaminmoerth 0:8c0ba8d4b439 4 DigitalOut LedD2 (P1_11);
benjaminmoerth 0:8c0ba8d4b439 5 DigitalOut LedD4 (P1_12);
benjaminmoerth 0:8c0ba8d4b439 6 DigitalOut LedD5 (P1_13);
benjaminmoerth 0:8c0ba8d4b439 7 DigitalOut LedD6 (P1_14);
benjaminmoerth 0:8c0ba8d4b439 8 DigitalOut LedD7 (P1_15);
benjaminmoerth 0:8c0ba8d4b439 9 DigitalOut LedD8 (P1_16);
benjaminmoerth 0:8c0ba8d4b439 10 DigitalOut LedD9 (P1_17);
benjaminmoerth 0:8c0ba8d4b439 11 DigitalOut LedD10 (P1_18);
benjaminmoerth 0:8c0ba8d4b439 12 DigitalOut LedD11 (P2_16);
benjaminmoerth 0:8c0ba8d4b439 13 DigitalOut LedD12 (P1_20);
benjaminmoerth 0:8c0ba8d4b439 14 DigitalOut LedD13 (P1_21);
benjaminmoerth 0:8c0ba8d4b439 15
benjaminmoerth 0:8c0ba8d4b439 16 DigitalIn TA1 (P1_23); //
benjaminmoerth 0:8c0ba8d4b439 17 DigitalIn TA2 (P1_24);
benjaminmoerth 0:8c0ba8d4b439 18 DigitalIn TA3 (P1_25); //
benjaminmoerth 0:8c0ba8d4b439 19 DigitalIn TA4 (P1_26);
benjaminmoerth 0:8c0ba8d4b439 20 DigitalIn TA5 (P1_27);//
benjaminmoerth 0:8c0ba8d4b439 21 DigitalIn TA6 (P1_28);//
benjaminmoerth 0:8c0ba8d4b439 22 DigitalIn TA7 (P1_30);//
benjaminmoerth 0:8c0ba8d4b439 23 DigitalIn TA8 (P1_31);//
benjaminmoerth 0:8c0ba8d4b439 24
benjaminmoerth 0:8c0ba8d4b439 25
benjaminmoerth 0:8c0ba8d4b439 26 DigitalOut Von (P2_13); // Motor Spannung ab BERTL15 nötig !
benjaminmoerth 0:8c0ba8d4b439 27
benjaminmoerth 0:8c0ba8d4b439 28 PwmOut MotorL (P1_19);
benjaminmoerth 0:8c0ba8d4b439 29 DigitalOut MotorL_EN(P1_19); // Enable OB DIE LINKS ODER RECHTS IST NOCH NICHT KLAR !
benjaminmoerth 0:8c0ba8d4b439 30 DigitalOut MotorL_FORWARD(P2_15); // Forwerts
benjaminmoerth 0:8c0ba8d4b439 31 DigitalOut MotorL_REVERSE(P2_14); // Rückwerts
benjaminmoerth 0:8c0ba8d4b439 32
benjaminmoerth 0:8c0ba8d4b439 33 PwmOut MotorR (P2_19);
benjaminmoerth 0:8c0ba8d4b439 34 DigitalOut MotorR_EN(P2_19); //Die Leitung führt zum Pin PO_21 am Prozessor
benjaminmoerth 0:8c0ba8d4b439 35 DigitalOut MotorR_FORWARD(P2_20); //Die Leitung führt zum Pin P1_3 am Prozessor
benjaminmoerth 0:8c0ba8d4b439 36 DigitalOut MotorR_REVERSE(P2_21);
benjaminmoerth 0:8c0ba8d4b439 37
benjaminmoerth 0:8c0ba8d4b439 38 int main()
benjaminmoerth 0:8c0ba8d4b439 39 {
benjaminmoerth 0:8c0ba8d4b439 40 Von = 1;
benjaminmoerth 0:8c0ba8d4b439 41 MotorL_EN=MotorR_EN=1;
benjaminmoerth 0:8c0ba8d4b439 42
benjaminmoerth 0:8c0ba8d4b439 43 MotorL_FORWARD=MotorR_FORWARD=1;
benjaminmoerth 0:8c0ba8d4b439 44 LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=LedD10=LedD11=LedD12=LedD13=1; // Alle Leds ausgeschalten
benjaminmoerth 0:8c0ba8d4b439 45 LedD1=LedD4=0;
benjaminmoerth 0:8c0ba8d4b439 46
benjaminmoerth 0:8c0ba8d4b439 47 while(1)
benjaminmoerth 0:8c0ba8d4b439 48 {
benjaminmoerth 0:8c0ba8d4b439 49 if(TA7 == 0)
benjaminmoerth 0:8c0ba8d4b439 50 {
benjaminmoerth 0:8c0ba8d4b439 51 LedD5=0;
benjaminmoerth 0:8c0ba8d4b439 52 wait(0.2);
benjaminmoerth 0:8c0ba8d4b439 53 LedD5=1;
benjaminmoerth 0:8c0ba8d4b439 54 wait(0.2);
benjaminmoerth 0:8c0ba8d4b439 55 LedD5=0;
benjaminmoerth 0:8c0ba8d4b439 56 wait(0.2);
benjaminmoerth 0:8c0ba8d4b439 57 LedD5=1;
benjaminmoerth 0:8c0ba8d4b439 58
benjaminmoerth 0:8c0ba8d4b439 59 MotorL_FORWARD=MotorR_FORWARD=0;
benjaminmoerth 0:8c0ba8d4b439 60 LedD7=LedD9=0;
benjaminmoerth 0:8c0ba8d4b439 61 wait (1);
benjaminmoerth 0:8c0ba8d4b439 62 MotorL_FORWARD=1;
benjaminmoerth 0:8c0ba8d4b439 63 LedD7=LedD9=1;
benjaminmoerth 0:8c0ba8d4b439 64 wait(0.5);
benjaminmoerth 0:8c0ba8d4b439 65 MotorR_FORWARD=1;
benjaminmoerth 0:8c0ba8d4b439 66 }
benjaminmoerth 0:8c0ba8d4b439 67
benjaminmoerth 0:8c0ba8d4b439 68 if(TA8 == 0)
benjaminmoerth 0:8c0ba8d4b439 69 {
benjaminmoerth 0:8c0ba8d4b439 70 LedD2=0;
benjaminmoerth 0:8c0ba8d4b439 71 wait(0.2);
benjaminmoerth 0:8c0ba8d4b439 72 LedD2=1;
benjaminmoerth 0:8c0ba8d4b439 73 wait(0.2);
benjaminmoerth 0:8c0ba8d4b439 74 LedD2=0;
benjaminmoerth 0:8c0ba8d4b439 75 wait(0.2);
benjaminmoerth 0:8c0ba8d4b439 76 LedD2=1;
benjaminmoerth 0:8c0ba8d4b439 77
benjaminmoerth 0:8c0ba8d4b439 78 MotorL_FORWARD=MotorR_FORWARD=0;
benjaminmoerth 0:8c0ba8d4b439 79 LedD7=LedD9=0;
benjaminmoerth 0:8c0ba8d4b439 80 wait (1);
benjaminmoerth 0:8c0ba8d4b439 81 MotorR_FORWARD=1;
benjaminmoerth 0:8c0ba8d4b439 82 LedD7=LedD9=1;
benjaminmoerth 0:8c0ba8d4b439 83 wait(0.5);
benjaminmoerth 0:8c0ba8d4b439 84 MotorL_FORWARD=1;
benjaminmoerth 0:8c0ba8d4b439 85 }
benjaminmoerth 0:8c0ba8d4b439 86
benjaminmoerth 0:8c0ba8d4b439 87 if (TA3 == 0)
benjaminmoerth 0:8c0ba8d4b439 88 {
benjaminmoerth 0:8c0ba8d4b439 89 MotorL_FORWARD=MotorR_FORWARD=0;
benjaminmoerth 0:8c0ba8d4b439 90 LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=LedD10=LedD11=LedD12=LedD13=0;
benjaminmoerth 0:8c0ba8d4b439 91 wait(3);
benjaminmoerth 0:8c0ba8d4b439 92 LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=LedD10=LedD11=LedD12=LedD13=1;
benjaminmoerth 0:8c0ba8d4b439 93 LedD1=LedD4=0;
benjaminmoerth 0:8c0ba8d4b439 94 MotorL_REVERSE=MotorR_REVERSE=1;
benjaminmoerth 0:8c0ba8d4b439 95 LedD7=LedD9=0;
benjaminmoerth 0:8c0ba8d4b439 96 wait (1);
benjaminmoerth 0:8c0ba8d4b439 97 MotorL_REVERSE=MotorR_REVERSE=0;
benjaminmoerth 0:8c0ba8d4b439 98 LedD7=LedD9=1;
benjaminmoerth 0:8c0ba8d4b439 99 wait(0.2);
benjaminmoerth 0:8c0ba8d4b439 100 MotorL_FORWARD=MotorR_FORWARD=1;
benjaminmoerth 0:8c0ba8d4b439 101 }
benjaminmoerth 0:8c0ba8d4b439 102
benjaminmoerth 0:8c0ba8d4b439 103
benjaminmoerth 0:8c0ba8d4b439 104
benjaminmoerth 0:8c0ba8d4b439 105 }
benjaminmoerth 0:8c0ba8d4b439 106
benjaminmoerth 0:8c0ba8d4b439 107
benjaminmoerth 0:8c0ba8d4b439 108 }
benjaminmoerth 0:8c0ba8d4b439 109