Revision 1:a5392efd321c, committed 2016-06-15

Comitter:

SophieRechar

Date:

Wed Jun 15 07:16:59 2016 +0000

Parent:

0:b4f9731c4fad

Commit message:

Epileptische Linie Cop. Sophie GMbH

Changed in this revision

diff -r b4f9731c4fad -r a5392efd321c Uebung1.cpp
--- a/Uebung1.cpp	Wed Jun 08 11:31:26 2016 +0000
+++ b/Uebung1.cpp	Wed Jun 15 07:16:59 2016 +0000
@@ -6,7 +6,7 @@
 DigitalIn ISO2 (P0_16);
 DigitalIn ISO3 (P0_23);
 DigitalIn ISO4 (P0_15);
-DigitalIn ISO5 (P1_3);       // OSI5
+DigitalIn ISO5 (P1_3);   
  
 DigitalOut LedD1 (P1_10);      
 DigitalOut LedD2 (P1_11);
@@ -21,33 +21,47 @@
 DigitalOut LedD12 (P1_20);
 DigitalOut LedD13 (P1_21);
 
-DigitalOut MotorL_EN(P1_19);      // Enable          
-DigitalOut MotorL_FORWARD(P2_14); // Forwärts  
-DigitalOut MotorL_REVERSE(P2_15); // Rückwärts  
+PwmOut MotorL_EN(P1_19);         
+DigitalOut MotorL_FORWARD(P2_15); 
+DigitalOut MotorL_REVERSE(P2_14); 
 
-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);
-
+PwmOut MotorR_EN(P2_19);     
+DigitalOut MotorR_FORWARD(P2_20);
+DigitalOut MotorR_REVERSE(P2_21);
 
 int main() 
 {
-   
+    MotorL_EN.period_ms(10.0f);
+    MotorR_EN.period_ms(10.0f);
+    
    do
    {
-   LineON=1;
-   Von=1;
-   MotorR_EN=MotorL_EN=1;
+    MotorR_EN = MotorL_EN = 0.3;
+    LineON = 1;
+    Von = 1;
    
-   if(ISO1==0)
-   {
-       LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=LedD10=LedD11=LedD12=LedD13=0;
-       MotorR_FORWARD=MotorL_FORWARD=1;
-   }
-else
-{
-   LedD1=LedD2=LedD4=LedD5=LedD6=LedD7=LedD8=LedD9=LedD10=LedD11=LedD12=LedD13=1;
-   MotorR_FORWARD=MotorL_FORWARD=0;
+    MotorR_FORWARD = MotorL_FORWARD = 1;
+    
+   if(ISO1 == 0)
+     {
+       MotorR_FORWARD = MotorL_FORWARD = 0;
+        MotorL_EN = 0.7;
+        MotorL_FORWARD = 1;
+        MotorR_FORWARD = 0;
+     }
+     
+    else if(ISO4 == 0)
+     {
+        MotorR_FORWARD = MotorL_FORWARD = 0;
+        MotorL_EN = 0.7;
+        MotorL_FORWARD = 0;
+        MotorR_FORWARD = 1;
+     }
+     
+     else if(ISO5 == 0)
+     {
+       MotorR_FORWARD = MotorL_FORWARD = 0;
+       MotorR_FORWARD = MotorL_FORWARD = 0.3;
+     }
+  }while(1); 
 }
-  }while(1==1); 
-}