Gruppe 3 / Mbed 2 deprecated PES1

für holdor

Dependencies:   Servo mbed pixy

Fork of PES by Gruppe 3

main.cpp@14:7e330f65f26e, 2017-04-19 (annotated)

Committer:
itslinear
Date:
Wed Apr 19 16:27:30 2017 +0000
Revision:
14:7e330f65f26e
Parent:
13:7eba9911e196
Child:
16:0a1703438e8b
aktuell

Who changed what in which revision?

UserRevisionLine numberNew 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 12:b9faf8637183 46 int state = 0; // Diese Variable gibt an in welchem State man sich befindet
itslinear 13:7eba9911e196 47 int tempState = 2;
itslinear 9:d9e46f9c9e40 48
itslinear 9:d9e46f9c9e40 49 while(1) {
itslinear 9:d9e46f9c9e40 50
itslinear 14:7e330f65f26e 51 int camValue = readCamera();
itslinear 6:4af735d26b7a 52
itslinear 6:4af735d26b7a 53 switch(state) {
itslinear 6:4af735d26b7a 54
itslinear 12:b9faf8637183 55 case 0: // Roboter Anschalten mit Knopf
itslinear 6:4af735d26b7a 56
itslinear 12:b9faf8637183 57 if (switchOnOff == 0) {
itslinear 12:b9faf8637183 58 state = 1;
itslinear 9:d9e46f9c9e40 59 }
itslinear 7:edb4e0cfc0d1 60
itslinear 9:d9e46f9c9e40 61 break;
itslinear 6:4af735d26b7a 62
itslinear 12:b9faf8637183 63 case 1:
itslinear 14:7e330f65f26e 64 if(camValue == 1 || camValue == 2 || camValue == 3) { // Die Kamera erkennt ein grünen Klotz
itslinear 12:b9faf8637183 65 state = 4;
itslinear 12:b9faf8637183 66 }
itslinear 14:7e330f65f26e 67 if(camValue == 4) { // Roboter in Position
itslinear 12:b9faf8637183 68 state = 5;
itslinear 12:b9faf8637183 69 }
itslinear 14:7e330f65f26e 70 if(camValue == 0){
itslinear 13:7eba9911e196 71 state = tempState;
itslinear 12:b9faf8637183 72 }
itslinear 12:b9faf8637183 73
itslinear 12:b9faf8637183 74
itslinear 9:d9e46f9c9e40 75 case 2:
itslinear 9:d9e46f9c9e40 76 static int time1 = 0;
itslinear 9:d9e46f9c9e40 77 if(time1 < 20) { // Im Kreis drehen für 1s
itslinear 9:d9e46f9c9e40 78 pwmL = 0.4f;
itslinear 9:d9e46f9c9e40 79 pwmR = 0.4f;
itslinear 9:d9e46f9c9e40 80 time1 ++;
itslinear 12:b9faf8637183 81 state = 1;
itslinear 13:7eba9911e196 82 tempState = 2;
itslinear 9:d9e46f9c9e40 83 } else {
itslinear 9:d9e46f9c9e40 84 time1 = 0;
itslinear 9:d9e46f9c9e40 85 pwmL = 0.5f;
itslinear 9:d9e46f9c9e40 86 pwmR = 0.5f;
itslinear 9:d9e46f9c9e40 87 state = 3;
itslinear 9:d9e46f9c9e40 88 }
itslinear 9:d9e46f9c9e40 89 break;
itslinear 6:4af735d26b7a 90
itslinear 3:24e098715b78 91
itslinear 9:d9e46f9c9e40 92 case 3:
itslinear 9:d9e46f9c9e40 93 roboter1.bandeAusweichen();
itslinear 9:d9e46f9c9e40 94 static int time2 = 0;
itslinear 9:d9e46f9c9e40 95 if(time2 < 40) { // gerade aus fahren
itslinear 9:d9e46f9c9e40 96 pwmL = 0.6f;
itslinear 9:d9e46f9c9e40 97 pwmR = 0.4f;
itslinear 9:d9e46f9c9e40 98 time2 ++;
itslinear 12:b9faf8637183 99 state = 1;
itslinear 13:7eba9911e196 100 tempState = 3;
itslinear 9:d9e46f9c9e40 101 } else {
itslinear 9:d9e46f9c9e40 102 time2 = 0;
itslinear 9:d9e46f9c9e40 103 pwmL = 0.5f;
itslinear 9:d9e46f9c9e40 104 pwmR = 0.5f;
itslinear 9:d9e46f9c9e40 105 state = 2;
itslinear 9:d9e46f9c9e40 106 }
itslinear 9:d9e46f9c9e40 107 break;
itslinear 6:4af735d26b7a 108
itslinear 6:4af735d26b7a 109
itslinear 9:d9e46f9c9e40 110 case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
itslinear 9:d9e46f9c9e40 111 roboter1.bandeAusweichen();
itslinear 14:7e330f65f26e 112 if(camValue == 1) { // links fahren
itslinear 9:d9e46f9c9e40 113 pwmL = 0.45f;
itslinear 9:d9e46f9c9e40 114 pwmR = 0.45f;
itslinear 9:d9e46f9c9e40 115 }
itslinear 14:7e330f65f26e 116 if(camValue == 2) { // rechts fahren
itslinear 9:d9e46f9c9e40 117 pwmL = 0.55f;
itslinear 9:d9e46f9c9e40 118 pwmR = 0.55f;
itslinear 9:d9e46f9c9e40 119 }
itslinear 14:7e330f65f26e 120 if(camValue == 3) { // gerade fahren
itslinear 9:d9e46f9c9e40 121 pwmL = 0.55f;
itslinear 9:d9e46f9c9e40 122 pwmR = 0.45f;
itslinear 9:d9e46f9c9e40 123 }
itslinear 13:7eba9911e196 124 state = 1;
itslinear 6:4af735d26b7a 125
itslinear 9:d9e46f9c9e40 126 break;
itslinear 9:d9e46f9c9e40 127
itslinear 9:d9e46f9c9e40 128 case 5: // Aufnehmen des Klotzes
itslinear 12:b9faf8637183 129 pwmL = 0.5f;
itslinear 12:b9faf8637183 130 pwmR = 0.5f;
itslinear 13:7eba9911e196 131 state = 1;
itslinear 9:d9e46f9c9e40 132
itslinear 6:4af735d26b7a 133
itslinear 9:d9e46f9c9e40 134 break;
itslinear 9:d9e46f9c9e40 135
itslinear 6:4af735d26b7a 136
itslinear 9:d9e46f9c9e40 137 default:
itslinear 9:d9e46f9c9e40 138 break;
itslinear 9:d9e46f9c9e40 139
itslinear 6:4af735d26b7a 140
itslinear 6:4af735d26b7a 141 }
schneju2 5:f48b2609c328 142
itslinear 9:d9e46f9c9e40 143 wait(0.1f);
itslinear 9:d9e46f9c9e40 144
schneju2 5:f48b2609c328 145 }
itslinear 1:4e84271a70c6 146
itslinear 9:d9e46f9c9e40 147 }
itslinear 9:d9e46f9c9e40 148