Diff: BertTaster.cpp

Revision:

0:bd48d1bab7e6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BertTaster.cpp	Wed Jun 08 08:05:30 2016 +0000
@@ -0,0 +1,135 @@
+#include "mbed.h"
+
+DigitalOut LedD1 (P1_10);      
+DigitalOut LedD2 (P1_11);
+DigitalOut LedD4 (P1_12);
+DigitalOut LedD5 (P1_13);
+DigitalOut LedD6 (P1_14);      
+DigitalOut LedD7 (P1_15);
+DigitalOut LedD8 (P1_16);
+DigitalOut LedD9 (P1_17);
+DigitalOut LedD10 (P1_18);     
+DigitalOut LedD11 (P2_16);
+DigitalOut LedD12 (P1_20);
+DigitalOut LedD13 (P1_21);
+
+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_14); // Forwerts  
+DigitalOut MotorL_REVERSE(P2_15); // Rückwerts  
+
+DigitalOut MotorR_EN(P2_19);      //Die Leitung führt zum Pin PO_21 am Prozessor
+DigitalOut MotorR_FORWARD(P2_21); //Die Leitung führt zum Pin P1_3 am Prozessor
+DigitalOut MotorR_REVERSE(P2_20);
+
+DigitalIn TA1 (P1_23);      
+DigitalIn TA2 (P1_24);
+DigitalIn TA3 (P1_25);
+DigitalIn TA4 (P1_26);
+DigitalIn TA5 (P1_27);      
+DigitalIn TA6 (P1_28);
+DigitalIn TA7 (P1_30);
+DigitalIn TA8 (P1_31); 
+
+int main()
+{
+    Von = 1;
+    MotorL_EN=MotorR_EN=1;
+    
+    do {
+    if(TA4 == 0)
+        {
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            LedD10=LedD11=LedD12=LedD13=0;
+            LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1;
+            MotorR_REVERSE=1;
+            MotorL_REVERSE=1;
+            wait(0.5);
+            MotorR_REVERSE=0;
+            MotorL_REVERSE=0;
+            wait(0.5);
+            MotorR_REVERSE=1;
+            wait(0.35);
+            MotorR_REVERSE=0;
+            wait(0.5); 
+        }
+   MotorR_FORWARD=MotorL_FORWARD=1;
+   if(TA6 == 0)
+        {
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            LedD10=LedD11=LedD12=LedD13=0;
+            LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1;
+            MotorR_REVERSE=1;
+            MotorL_REVERSE=1;
+            wait(0.5);
+            MotorR_REVERSE=0;
+            MotorL_REVERSE=0;
+            wait(0.5);
+            MotorL_REVERSE=1;
+            wait(0.35);
+            MotorL_REVERSE=0;
+            wait(0.5);
+        }
+    MotorR_FORWARD=MotorL_FORWARD=1;
+    if(TA5 == 0)
+        {
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            LedD10=LedD11=LedD12=LedD13=0;
+            LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1;
+            MotorR_REVERSE=1;
+            MotorL_REVERSE=1;
+            wait(0.5);
+            MotorR_REVERSE=0;
+            MotorL_REVERSE=0;
+            wait(0.5);
+            MotorR_REVERSE=1;
+            wait(0.35);
+            MotorR_REVERSE=0;
+            wait(0.5);
+        }
+    MotorR_FORWARD=MotorL_FORWARD=1;
+    if(TA2 == 0)
+    {
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            LedD10=LedD11=LedD12=LedD13=0;
+            LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1;
+            MotorR_FORWARD=MotorL_FORWARD=1;
+            wait(1.0);
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            wait(0.5);
+    }
+    MotorR_FORWARD=MotorL_FORWARD=1;
+    
+    if(TA3 == 0)
+    {
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            LedD10=LedD11=LedD12=LedD13=0;
+            LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1;
+            MotorR_FORWARD=MotorL_FORWARD=1;
+            wait(1.0);
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            wait(0.5);
+    }
+    MotorR_FORWARD=MotorL_FORWARD=1;
+    if(TA8 == 0)
+    {
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            LedD10=LedD11=LedD12=LedD13=0;
+            LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1;
+            MotorL_FORWARD=1;
+            wait(0.2);
+            MotorL_FORWARD=0;
+    }
+    MotorR_FORWARD=MotorL_FORWARD=1;
+    if(TA7 == 0)
+    {
+            MotorR_FORWARD=MotorL_FORWARD=0;
+            LedD10=LedD11=LedD12=LedD13=0;
+            LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1;
+            MotorL_FORWARD=1;
+            wait(0.2);
+            MotorL_FORWARD=0;
+    }
+    MotorR_FORWARD=MotorL_FORWARD=1;
+    }while(1);
+}
\ No newline at end of file