Bertl Programm für den Motor, reagiert auf die Taster. (Falsche Richtung)
Dependencies: mbed
BertTaster.cpp@0:bd48d1bab7e6, 2016-06-08 (annotated)
- Committer:
- JulianSteinkellner
- Date:
- Wed Jun 08 08:05:30 2016 +0000
- Revision:
- 0:bd48d1bab7e6
Bertl2016_Taster
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
JulianSteinkellner | 0:bd48d1bab7e6 | 1 | #include "mbed.h" |
JulianSteinkellner | 0:bd48d1bab7e6 | 2 | |
JulianSteinkellner | 0:bd48d1bab7e6 | 3 | DigitalOut LedD1 (P1_10); |
JulianSteinkellner | 0:bd48d1bab7e6 | 4 | DigitalOut LedD2 (P1_11); |
JulianSteinkellner | 0:bd48d1bab7e6 | 5 | DigitalOut LedD4 (P1_12); |
JulianSteinkellner | 0:bd48d1bab7e6 | 6 | DigitalOut LedD5 (P1_13); |
JulianSteinkellner | 0:bd48d1bab7e6 | 7 | DigitalOut LedD6 (P1_14); |
JulianSteinkellner | 0:bd48d1bab7e6 | 8 | DigitalOut LedD7 (P1_15); |
JulianSteinkellner | 0:bd48d1bab7e6 | 9 | DigitalOut LedD8 (P1_16); |
JulianSteinkellner | 0:bd48d1bab7e6 | 10 | DigitalOut LedD9 (P1_17); |
JulianSteinkellner | 0:bd48d1bab7e6 | 11 | DigitalOut LedD10 (P1_18); |
JulianSteinkellner | 0:bd48d1bab7e6 | 12 | DigitalOut LedD11 (P2_16); |
JulianSteinkellner | 0:bd48d1bab7e6 | 13 | DigitalOut LedD12 (P1_20); |
JulianSteinkellner | 0:bd48d1bab7e6 | 14 | DigitalOut LedD13 (P1_21); |
JulianSteinkellner | 0:bd48d1bab7e6 | 15 | |
JulianSteinkellner | 0:bd48d1bab7e6 | 16 | DigitalOut Von (P2_13); // Motor Spannung ab BERTL15 nötig ! |
JulianSteinkellner | 0:bd48d1bab7e6 | 17 | DigitalOut MotorL_EN(P1_19); // Enable OB DIE LINKS ODER RECHTS IST NOCH NICHT KLAR ! |
JulianSteinkellner | 0:bd48d1bab7e6 | 18 | DigitalOut MotorL_FORWARD(P2_14); // Forwerts |
JulianSteinkellner | 0:bd48d1bab7e6 | 19 | DigitalOut MotorL_REVERSE(P2_15); // Rückwerts |
JulianSteinkellner | 0:bd48d1bab7e6 | 20 | |
JulianSteinkellner | 0:bd48d1bab7e6 | 21 | DigitalOut MotorR_EN(P2_19); //Die Leitung führt zum Pin PO_21 am Prozessor |
JulianSteinkellner | 0:bd48d1bab7e6 | 22 | DigitalOut MotorR_FORWARD(P2_21); //Die Leitung führt zum Pin P1_3 am Prozessor |
JulianSteinkellner | 0:bd48d1bab7e6 | 23 | DigitalOut MotorR_REVERSE(P2_20); |
JulianSteinkellner | 0:bd48d1bab7e6 | 24 | |
JulianSteinkellner | 0:bd48d1bab7e6 | 25 | DigitalIn TA1 (P1_23); |
JulianSteinkellner | 0:bd48d1bab7e6 | 26 | DigitalIn TA2 (P1_24); |
JulianSteinkellner | 0:bd48d1bab7e6 | 27 | DigitalIn TA3 (P1_25); |
JulianSteinkellner | 0:bd48d1bab7e6 | 28 | DigitalIn TA4 (P1_26); |
JulianSteinkellner | 0:bd48d1bab7e6 | 29 | DigitalIn TA5 (P1_27); |
JulianSteinkellner | 0:bd48d1bab7e6 | 30 | DigitalIn TA6 (P1_28); |
JulianSteinkellner | 0:bd48d1bab7e6 | 31 | DigitalIn TA7 (P1_30); |
JulianSteinkellner | 0:bd48d1bab7e6 | 32 | DigitalIn TA8 (P1_31); |
JulianSteinkellner | 0:bd48d1bab7e6 | 33 | |
JulianSteinkellner | 0:bd48d1bab7e6 | 34 | int main() |
JulianSteinkellner | 0:bd48d1bab7e6 | 35 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 36 | Von = 1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 37 | MotorL_EN=MotorR_EN=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 38 | |
JulianSteinkellner | 0:bd48d1bab7e6 | 39 | do { |
JulianSteinkellner | 0:bd48d1bab7e6 | 40 | if(TA4 == 0) |
JulianSteinkellner | 0:bd48d1bab7e6 | 41 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 42 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 43 | LedD10=LedD11=LedD12=LedD13=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 44 | LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 45 | MotorR_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 46 | MotorL_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 47 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 48 | MotorR_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 49 | MotorL_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 50 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 51 | MotorR_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 52 | wait(0.35); |
JulianSteinkellner | 0:bd48d1bab7e6 | 53 | MotorR_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 54 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 55 | } |
JulianSteinkellner | 0:bd48d1bab7e6 | 56 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 57 | if(TA6 == 0) |
JulianSteinkellner | 0:bd48d1bab7e6 | 58 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 59 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 60 | LedD10=LedD11=LedD12=LedD13=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 61 | LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 62 | MotorR_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 63 | MotorL_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 64 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 65 | MotorR_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 66 | MotorL_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 67 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 68 | MotorL_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 69 | wait(0.35); |
JulianSteinkellner | 0:bd48d1bab7e6 | 70 | MotorL_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 71 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 72 | } |
JulianSteinkellner | 0:bd48d1bab7e6 | 73 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 74 | if(TA5 == 0) |
JulianSteinkellner | 0:bd48d1bab7e6 | 75 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 76 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 77 | LedD10=LedD11=LedD12=LedD13=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 78 | LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 79 | MotorR_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 80 | MotorL_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 81 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 82 | MotorR_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 83 | MotorL_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 84 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 85 | MotorR_REVERSE=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 86 | wait(0.35); |
JulianSteinkellner | 0:bd48d1bab7e6 | 87 | MotorR_REVERSE=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 88 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 89 | } |
JulianSteinkellner | 0:bd48d1bab7e6 | 90 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 91 | if(TA2 == 0) |
JulianSteinkellner | 0:bd48d1bab7e6 | 92 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 93 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 94 | LedD10=LedD11=LedD12=LedD13=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 95 | LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 96 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 97 | wait(1.0); |
JulianSteinkellner | 0:bd48d1bab7e6 | 98 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 99 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 100 | } |
JulianSteinkellner | 0:bd48d1bab7e6 | 101 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 102 | |
JulianSteinkellner | 0:bd48d1bab7e6 | 103 | if(TA3 == 0) |
JulianSteinkellner | 0:bd48d1bab7e6 | 104 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 105 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 106 | LedD10=LedD11=LedD12=LedD13=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 107 | LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 108 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 109 | wait(1.0); |
JulianSteinkellner | 0:bd48d1bab7e6 | 110 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 111 | wait(0.5); |
JulianSteinkellner | 0:bd48d1bab7e6 | 112 | } |
JulianSteinkellner | 0:bd48d1bab7e6 | 113 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 114 | if(TA8 == 0) |
JulianSteinkellner | 0:bd48d1bab7e6 | 115 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 116 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 117 | LedD10=LedD11=LedD12=LedD13=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 118 | LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 119 | MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 120 | wait(0.2); |
JulianSteinkellner | 0:bd48d1bab7e6 | 121 | MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 122 | } |
JulianSteinkellner | 0:bd48d1bab7e6 | 123 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 124 | if(TA7 == 0) |
JulianSteinkellner | 0:bd48d1bab7e6 | 125 | { |
JulianSteinkellner | 0:bd48d1bab7e6 | 126 | MotorR_FORWARD=MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 127 | LedD10=LedD11=LedD12=LedD13=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 128 | LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 129 | MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 130 | wait(0.2); |
JulianSteinkellner | 0:bd48d1bab7e6 | 131 | MotorL_FORWARD=0; |
JulianSteinkellner | 0:bd48d1bab7e6 | 132 | } |
JulianSteinkellner | 0:bd48d1bab7e6 | 133 | MotorR_FORWARD=MotorL_FORWARD=1; |
JulianSteinkellner | 0:bd48d1bab7e6 | 134 | }while(1); |
JulianSteinkellner | 0:bd48d1bab7e6 | 135 | } |