![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
Roboter
Roboter.cpp
- Committer:
- itslinear
- Date:
- 2017-03-21
- Revision:
- 0:306a2438de17
- Child:
- 1:4e84271a70c6
File content as of revision 0:306a2438de17:
#include "Roboter.h" //timer object for ledshow and distance sensor Ticker t1; //lights up the led according to the sensor signal void ledDistance() { for( int ii = 0; ii<6; ++ii) sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0; } //blinks at startup and starts ledDistance task void ledShow() { static int timer = 0; for( int ii = 0; ii<6; ++ii) leds[ii] = !leds[ii]; //quit ticker and start led distance show if( ++timer > 10) { t1.detach(); t1.attach( &ledDistance, 0.01f ); } } int IRSensor() { pwmL.period(0.00005f); // Setzt die Periode auf 50 μs pwmR.period(0.00005f); pwmL = 0.5f; // Setzt die Duty-Cycle auf 50% pwmR = 0.5f; enableMotorDriver = 0; t1.attach( &ledShow, 0.05f ); //init distance sensors for( int ii = 0; ii<6; ++ii) sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii); enable = 1; while(1) { wait( 0.2f ); } }