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Roboter
main.cpp@9:d9e46f9c9e40, 2017-04-19 (annotated)
- Committer:
- itslinear
- Date:
- Wed Apr 19 10:07:55 2017 +0000
- Revision:
- 9:d9e46f9c9e40
- Parent:
- 8:6d9cd5ad332d
tada
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
itslinear | 0:306a2438de17 | 1 | #include <mbed.h> |
itslinear | 0:306a2438de17 | 2 | #include "Roboter.h" |
itslinear | 0:306a2438de17 | 3 | |
itslinear | 0:306a2438de17 | 4 | DigitalOut led(LED1); |
itslinear | 0:306a2438de17 | 5 | |
itslinear | 0:306a2438de17 | 6 | //Periphery for distance sensors |
itslinear | 1:4e84271a70c6 | 7 | AnalogIn distance(PB_1); |
itslinear | 0:306a2438de17 | 8 | DigitalOut enable(PC_1); |
itslinear | 0:306a2438de17 | 9 | DigitalOut bit0(PH_1); |
itslinear | 0:306a2438de17 | 10 | DigitalOut bit1(PC_2); |
itslinear | 0:306a2438de17 | 11 | DigitalOut bit2(PC_3); |
itslinear | 0:306a2438de17 | 12 | IRSensor sensors[6]; |
itslinear | 0:306a2438de17 | 13 | |
schneju2 | 2:953263712480 | 14 | // Periphery for servos |
itslinear | 4:fdcf3b5009c6 | 15 | Servo servos1(PB_7); |
itslinear | 4:fdcf3b5009c6 | 16 | Servo servos2(PA_6); |
itslinear | 4:fdcf3b5009c6 | 17 | |
itslinear | 6:4af735d26b7a | 18 | //Periphery for limit switch |
itslinear | 4:fdcf3b5009c6 | 19 | DigitalIn limitSwitch1(PA_10); |
itslinear | 6:4af735d26b7a | 20 | DigitalIn limitSwitch2(PB_13); |
schneju2 | 2:953263712480 | 21 | |
itslinear | 6:4af735d26b7a | 22 | //Periphery for Switch ON/OFF |
schneju2 | 5:f48b2609c328 | 23 | |
itslinear | 7:edb4e0cfc0d1 | 24 | DigitalIn switchOnOff(USER_BUTTON); |
schneju2 | 5:f48b2609c328 | 25 | |
itslinear | 0:306a2438de17 | 26 | //motor stuff |
itslinear | 0:306a2438de17 | 27 | DigitalOut enableMotorDriver(PB_2); |
itslinear | 3:24e098715b78 | 28 | PwmOut pwmL( PA_8 ); |
itslinear | 3:24e098715b78 | 29 | PwmOut pwmR( PA_9 ); |
itslinear | 0:306a2438de17 | 30 | |
itslinear | 0:306a2438de17 | 31 | //indicator leds arround robot |
itslinear | 0:306a2438de17 | 32 | DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 }; |
itslinear | 0:306a2438de17 | 33 | |
itslinear | 4:fdcf3b5009c6 | 34 | Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2, &limitSwitch1, &limitSwitch2); |
itslinear | 0:306a2438de17 | 35 | |
itslinear | 1:4e84271a70c6 | 36 | int main() |
itslinear | 1:4e84271a70c6 | 37 | { |
itslinear | 6:4af735d26b7a | 38 | enable = 1; // Sensoren einschalten |
itslinear | 6:4af735d26b7a | 39 | enableMotorDriver = 1; // Schaltet die Motoren ein |
itslinear | 7:edb4e0cfc0d1 | 40 | pwmL.period(0.00005f); // Setzt die Periode auf 50 μs |
itslinear | 7:edb4e0cfc0d1 | 41 | pwmR.period(0.00005f); |
schneju2 | 8:6d9cd5ad332d | 42 | pwmL = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 43 | pwmR = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 44 | |
itslinear | 6:4af735d26b7a | 45 | |
itslinear | 7:edb4e0cfc0d1 | 46 | int state = 1; // Diese Variable gibt an in welchem State man sich befindet |
itslinear | 3:24e098715b78 | 47 | |
itslinear | 9:d9e46f9c9e40 | 48 | |
itslinear | 9:d9e46f9c9e40 | 49 | while(1) { |
itslinear | 9:d9e46f9c9e40 | 50 | |
itslinear | 9:d9e46f9c9e40 | 51 | if (kamera() == 1 || kamera() == 2 || kamera() == 3) { // Die Kamera erkennt ein grünen Klotz |
itslinear | 9:d9e46f9c9e40 | 52 | state = 4; |
itslinear | 9:d9e46f9c9e40 | 53 | } |
itslinear | 9:d9e46f9c9e40 | 54 | if(kamera() == 4) { // Roboter in Position |
itslinear | 9:d9e46f9c9e40 | 55 | state = 5; |
itslinear | 9:d9e46f9c9e40 | 56 | } |
itslinear | 9:d9e46f9c9e40 | 57 | |
itslinear | 6:4af735d26b7a | 58 | |
itslinear | 6:4af735d26b7a | 59 | switch(state) { |
itslinear | 6:4af735d26b7a | 60 | |
itslinear | 9:d9e46f9c9e40 | 61 | case 1: // Roboter Anschalten mit Knopf |
itslinear | 6:4af735d26b7a | 62 | |
itslinear | 9:d9e46f9c9e40 | 63 | if (switchOnOff== 0) { |
itslinear | 9:d9e46f9c9e40 | 64 | state = 2; |
itslinear | 9:d9e46f9c9e40 | 65 | } |
itslinear | 7:edb4e0cfc0d1 | 66 | |
itslinear | 9:d9e46f9c9e40 | 67 | break; |
itslinear | 6:4af735d26b7a | 68 | |
itslinear | 9:d9e46f9c9e40 | 69 | case 2: |
itslinear | 9:d9e46f9c9e40 | 70 | static int time1 = 0; |
itslinear | 9:d9e46f9c9e40 | 71 | if(time1 < 20) { // Im Kreis drehen für 1s |
itslinear | 9:d9e46f9c9e40 | 72 | pwmL = 0.4f; |
itslinear | 9:d9e46f9c9e40 | 73 | pwmR = 0.4f; |
itslinear | 9:d9e46f9c9e40 | 74 | time1 ++; |
itslinear | 9:d9e46f9c9e40 | 75 | } else { |
itslinear | 9:d9e46f9c9e40 | 76 | time1 = 0; |
itslinear | 9:d9e46f9c9e40 | 77 | pwmL = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 78 | pwmR = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 79 | state = 3; |
itslinear | 9:d9e46f9c9e40 | 80 | } |
itslinear | 9:d9e46f9c9e40 | 81 | break; |
itslinear | 6:4af735d26b7a | 82 | |
itslinear | 3:24e098715b78 | 83 | |
itslinear | 9:d9e46f9c9e40 | 84 | case 3: |
itslinear | 9:d9e46f9c9e40 | 85 | roboter1.bandeAusweichen(); |
itslinear | 9:d9e46f9c9e40 | 86 | static int time2 = 0; |
itslinear | 9:d9e46f9c9e40 | 87 | if(time2 < 40) { // gerade aus fahren |
itslinear | 9:d9e46f9c9e40 | 88 | pwmL = 0.6f; |
itslinear | 9:d9e46f9c9e40 | 89 | pwmR = 0.4f; |
itslinear | 9:d9e46f9c9e40 | 90 | time2 ++; |
itslinear | 9:d9e46f9c9e40 | 91 | } else { |
itslinear | 9:d9e46f9c9e40 | 92 | time2 = 0; |
itslinear | 9:d9e46f9c9e40 | 93 | pwmL = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 94 | pwmR = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 95 | state = 2; |
itslinear | 9:d9e46f9c9e40 | 96 | } |
itslinear | 9:d9e46f9c9e40 | 97 | break; |
itslinear | 6:4af735d26b7a | 98 | |
itslinear | 6:4af735d26b7a | 99 | |
itslinear | 9:d9e46f9c9e40 | 100 | case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren |
itslinear | 9:d9e46f9c9e40 | 101 | roboter1.bandeAusweichen(); |
itslinear | 9:d9e46f9c9e40 | 102 | if(kamera() == 1) { // links fahren |
itslinear | 9:d9e46f9c9e40 | 103 | pwmL = 0.45f; |
itslinear | 9:d9e46f9c9e40 | 104 | pwmR = 0.45f; |
itslinear | 9:d9e46f9c9e40 | 105 | } |
itslinear | 9:d9e46f9c9e40 | 106 | if(kamera() == 2) { // rechts fahren |
itslinear | 9:d9e46f9c9e40 | 107 | pwmL = 0.55f; |
itslinear | 9:d9e46f9c9e40 | 108 | pwmR = 0.55f; |
itslinear | 9:d9e46f9c9e40 | 109 | } |
itslinear | 9:d9e46f9c9e40 | 110 | if(kamera() == 3) { // gerade fahren |
itslinear | 9:d9e46f9c9e40 | 111 | pwmL = 0.55f; |
itslinear | 9:d9e46f9c9e40 | 112 | pwmR = 0.45f; |
itslinear | 9:d9e46f9c9e40 | 113 | } |
itslinear | 6:4af735d26b7a | 114 | |
itslinear | 9:d9e46f9c9e40 | 115 | break; |
itslinear | 9:d9e46f9c9e40 | 116 | |
itslinear | 9:d9e46f9c9e40 | 117 | case 5: // Aufnehmen des Klotzes |
itslinear | 9:d9e46f9c9e40 | 118 | |
itslinear | 9:d9e46f9c9e40 | 119 | |
itslinear | 6:4af735d26b7a | 120 | |
itslinear | 9:d9e46f9c9e40 | 121 | break; |
itslinear | 9:d9e46f9c9e40 | 122 | |
itslinear | 6:4af735d26b7a | 123 | |
itslinear | 9:d9e46f9c9e40 | 124 | default: |
itslinear | 9:d9e46f9c9e40 | 125 | break; |
itslinear | 9:d9e46f9c9e40 | 126 | |
itslinear | 6:4af735d26b7a | 127 | |
itslinear | 6:4af735d26b7a | 128 | } |
schneju2 | 5:f48b2609c328 | 129 | |
itslinear | 9:d9e46f9c9e40 | 130 | wait(0.1f); |
itslinear | 9:d9e46f9c9e40 | 131 | |
schneju2 | 5:f48b2609c328 | 132 | } |
itslinear | 1:4e84271a70c6 | 133 | |
itslinear | 9:d9e46f9c9e40 | 134 | } |
itslinear | 9:d9e46f9c9e40 | 135 |