Revision 6:be710baf53ec, committed 2015-01-22

Comitter:

bulmecisco

Date:

Thu Jan 22 13:44:59 2015 +0000

Parent:

5:7b091d085c70

Child:

7:cb6947e1f1d3

Commit message:

MoveMeasure Bug fixed.

Changed in this revision

--- a/config.h	Thu Jan 15 10:18:16 2015 +0000
+++ b/config.h	Thu Jan 22 13:44:59 2015 +0000
@@ -1,9 +1,9 @@
 /***********************************
-name:   config.h    v0.1
+name:   config.h    v0.2
 author: PE HTL BULME
 email:  pe@bulme.at
 description:
-    Constants and wiring for ur_Karel
+    Constants and wiring for ur_Bertl
    
       
 ***********************************/
@@ -15,13 +15,6 @@
 
 #define DEBUG 0
 
-#if defined(DEBUG) && DEBUG > 0
- #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
-    __FILE__, __LINE__, __func__, ##args)
-#else
- #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */
-#endif
-
 const int BTN_FLL = 0x80;   // button front left outer
 const int BTN_FL  = 0x04;   // button front left
 const int BTN_FM  = 0x01;   // button front middle
@@ -58,12 +51,19 @@
 DigitalOut MotorL_REVERSE(P1_0);
 
 DigitalOut MotorR_EN(p36);  // wiring motor right
-DigitalOut MotorR_FORWARD(P1_3);
-DigitalOut MotorR_REVERSE(P1_4);
+DigitalOut MotorR_FORWARD(P1_4);
+DigitalOut MotorR_REVERSE(P1_3);
 
 I2C i2c(p28,p27);   
 BusIn linesensor(p18, p16, p19, p17);  
 DigitalIn SensorL(P1_12);    // motor sensor left
 DigitalIn SensorR(P1_13);    // motor sensor right
 
+#if defined(DEBUG) && DEBUG > 0
+ #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
+    __FILE__, __LINE__, __func__, ##args)
+#else
+ #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */
+#endif
+
 #endif
\ No newline at end of file

--- a/main.cpp	Thu Jan 15 10:18:16 2015 +0000
+++ b/main.cpp	Thu Jan 22 13:44:59 2015 +0000
@@ -1,5 +1,5 @@
 /***********************************
-* name:   func_Bertl    v 0.2
+* name:   func_Bertl    v 0.3
 * author: PE HTL BULME
 * email:  pe@bulme.at
 * description:
@@ -9,6 +9,7 @@
 #include "mbed.h"
 #include "config.h"
 
+bool Start();
 void ShutOff();
 void Move();
 bool FrontIsClear();
@@ -23,19 +24,23 @@
 void MoveMore(int anzahl);
 void Back();
 bool WaitUntilButtonPressed();
-bool Start();
+
+// Eigene Funktionsdefinitionen hier
 
 
+    
 // *************  Hauptprogramm ************
 int main()
 {
-    while(!Start()) {}   // wait to start
+    // while(!Start()) {}   // wait to start
     wait_ms(200);
 
     Move();   
     TurnLeft();
     Move();
 
+    TurnLeftTicks(2000);    // Anzahl der MotorSensorwerte 
+
     ShutOff();
     return 0;
 }
@@ -102,14 +107,21 @@
     return wert;
 }
 
-bool MoveMeasure(int& left, int& right)
+/*
+use in main():
+    int left=0, right=0;
+
+    MoveMeasure(1000, left, right);
+    pc.printf("\r\nleft= %d  right= %d\r\n", left, right);
+*/
+bool MoveMeasure(int time, int& left, int& right)
 {
     int count=0; //, left=0, right=0;
 
     MotorR_EN=MotorL_EN=1;
     MotorR_FORWARD = MotorL_FORWARD = 1;
 
-    while(count<1000) {
+    while(count<time) {
         MotorR_FORWARD = MotorL_FORWARD = 1;
         LED_D10 = SensorL;
         if(SensorL == 1)