Revision 0:e9090884eb32, committed 2016-01-18

Comitter:

floza

Date:

Mon Jan 18 10:57:09 2016 +0000

Commit message:

Taster+Leds I2C

Changed in this revision

diff -r 000000000000 -r e9090884eb32 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jan 18 10:57:09 2016 +0000
@@ -0,0 +1,157 @@
+#include "mbed.h"
+
+I2C i2c(p28, p27);
+
+PwmOut MotorL_EN(p34);
+DigitalOut MotorL_REVERSE(P1_0);
+DigitalOut MotorL_FORWARD(P1_1);
+
+PwmOut MotorR_EN(p36);
+DigitalOut MotorR_FORWARD(P1_3);
+DigitalOut MotorR_REVERSE(P1_4);
+
+BusIn linesensor(P0_14, P0_12, P0_16, P0_13);
+
+const int addr = 0x40;          // I2C-Adresse des PCA9555
+char cmd[3];
+
+
+char WertLesen();
+void TasterVorneRechts();
+void TasterVorneMitte();
+void TasterVorneLinks();
+void TasterHinten();
+
+int main() {
+    
+    char btn = 0;
+    
+    
+/*** I2C Konfigurationen ***/
+    i2c.frequency(40000);    
+    cmd[0] = 0x06;           
+    cmd[1] = 0x00;           
+    i2c.write(addr, cmd, 2);                                 
+    cmd[0] = 0x02;  
+        
+        
+    while(1)
+    {     
+            MotorR_FORWARD = MotorL_FORWARD = 1; 
+            MotorR_EN = MotorL_EN = 1; 
+            cmd[1] = 0xFA;           
+            i2c.write(addr, cmd, 2);
+        
+            btn = WertLesen();
+        
+            if(btn == 128)
+                TasterVorneRechts();
+        
+            if(btn == 4 || btn == 1 || btn == 8)
+                TasterVorneMitte();
+        
+            if(btn == 64)
+                TasterVorneLinks();
+            
+            if(btn == 16 || btn == 2 || btn == 32)
+                TasterHinten();
+        
+            wait(0.1);
+            MotorR_EN = MotorL_EN = 0; 
+            MotorR_FORWARD = MotorL_FORWARD = 0; 
+    } 
+}
+
+
+
+char WertLesen() {
+    char btn;
+    i2c.start();
+        i2c.write(0x40);    
+        i2c.write(0x01);              
+    i2c.start();
+        i2c.write(0x41);     
+        btn = i2c.read(0);  
+    i2c.stop(); 
+    return btn;
+} 
+
+
+void TasterHinten() {
+    
+    MotorR_FORWARD = MotorL_FORWARD = MotorL_REVERSE = MotorR_REVERSE = 0;
+    MotorR_FORWARD = MotorL_FORWARD = 1; 
+    MotorR_EN = MotorL_EN = 0.5f;
+    wait(1);
+    MotorR_FORWARD = MotorL_FORWARD = 0;
+}   
+
+
+void TasterVorneRechts() {
+    int i = 0;
+    
+    MotorR_FORWARD = MotorL_FORWARD = 0; 
+    MotorL_REVERSE = 1;
+    MotorL_EN = 0.5f;
+    do{
+        cmd[1] = 0x77;
+        i2c.write(addr, cmd, 2);
+        wait(0.07);     
+        cmd[1] = 0xFF;
+        i2c.write(addr, cmd, 2);
+        wait(0.07);
+        i++;
+    }while(i < 7);
+
+    MotorL_REVERSE = 0;
+    MotorL_EN = 0;
+}
+
+
+void TasterVorneMitte() {
+    int i =0;
+    
+    MotorR_FORWARD = MotorL_FORWARD = 0; 
+    MotorL_REVERSE = MotorR_REVERSE = 1; 
+    MotorL_EN = MotorR_EN = 0.5f;
+    cmd[1] = 0xAF;           
+    i2c.write(addr, cmd, 2);
+    wait(1);
+    MotorL_REVERSE = MotorR_REVERSE = 0;
+    MotorL_REVERSE = MotorR_FORWARD = 1;
+    do {
+        cmd[1] = 0x00;
+        i2c.write(addr, cmd, 2);
+        wait(0.07);
+        
+        cmd[1] = 0xFF;
+        i2c.write(addr, cmd, 2);
+        wait(0.07);
+        
+        i++;
+        }while(i < 4);
+    MotorL_REVERSE = MotorR_FORWARD = 0;
+    MotorL_EN = MotorR_EN = 0;
+}
+
+
+void TasterVorneLinks() {
+    int i =0;
+    
+    MotorR_FORWARD = MotorL_FORWARD = 0; 
+    MotorR_REVERSE = 1;
+    MotorR_EN = 0.5f;
+    do {
+        cmd[1] = 0xDD;
+        i2c.write(addr, cmd, 2);
+        wait(0.07);
+        
+        cmd[1] = 0xFF;
+        i2c.write(addr, cmd, 2);
+        wait(0.07);
+        
+        i++;
+        }while(i < 7);
+    MotorR_REVERSE = 0;
+    MotorR_EN = 0;    
+}
\ No newline at end of file

diff -r 000000000000 -r e9090884eb32 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jan 18 10:57:09 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/cbbeb26dbd92
\ No newline at end of file