Gruppe 3 / Mbed 2 deprecated PES1

für holdor

Dependencies:   Servo mbed pixy

Fork of PES by Gruppe 3

Roboter.cpp@17:caf5ae550f2e, 2017-04-25 (annotated)

Committer:
Shukle
Date:
Tue Apr 25 12:26:04 2017 +0000
Revision:
17:caf5ae550f2e
Parent:
9:d9e46f9c9e40
Child:
20:c961dc550882
endschalter entfernt;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itslinear 0:306a2438de17 1 #include "Roboter.h"
itslinear 0:306a2438de17 2
itslinear 0:306a2438de17 3
Shukle 17:caf5ae550f2e 4 Roboter::Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR, Servo* s1, Servo* s2)
itslinear 4:fdcf3b5009c6 5
itslinear 1:4e84271a70c6 6 {
itslinear 0:306a2438de17 7
itslinear 1:4e84271a70c6 8 sensors[0].init( distance, bit0, bit1, bit2, 0);
itslinear 1:4e84271a70c6 9 sensors[1].init( distance, bit0, bit1, bit2, 1);
itslinear 1:4e84271a70c6 10 sensors[2].init( distance, bit0, bit1, bit2, 2);
itslinear 1:4e84271a70c6 11 sensors[3].init( distance, bit0, bit1, bit2, 3);
itslinear 1:4e84271a70c6 12 sensors[4].init( distance, bit0, bit1, bit2, 4);
itslinear 1:4e84271a70c6 13 sensors[5].init( distance, bit0, bit1, bit2, 5);
itslinear 0:306a2438de17 14
itslinear 1:4e84271a70c6 15 this->pwmR = pwmR;
itslinear 1:4e84271a70c6 16 this->pwmL = pwmL;
itslinear 4:fdcf3b5009c6 17 this->s1 = s1;
itslinear 4:fdcf3b5009c6 18 this->s2 = s2;
itslinear 4:fdcf3b5009c6 19
itslinear 1:4e84271a70c6 20
itslinear 1:4e84271a70c6 21 }
itslinear 1:4e84271a70c6 22
itslinear 1:4e84271a70c6 23 float Roboter::readSensor1()
itslinear 0:306a2438de17 24 {
itslinear 1:4e84271a70c6 25 return sensors[0].read();
itslinear 1:4e84271a70c6 26
itslinear 0:306a2438de17 27 }
itslinear 0:306a2438de17 28
itslinear 1:4e84271a70c6 29
itslinear 1:4e84271a70c6 30 void Roboter::bandeAusweichen()
itslinear 0:306a2438de17 31 {
itslinear 1:4e84271a70c6 32 float offsetDir;
itslinear 1:4e84271a70c6 33 float offsetLin;
itslinear 1:4e84271a70c6 34
itslinear 1:4e84271a70c6 35 float x=0.13f; // Distanz ab welcher sensoren reagieren sollen
itslinear 1:4e84271a70c6 36
itslinear 6:4af735d26b7a 37 offsetDir = 0;
itslinear 6:4af735d26b7a 38 offsetLin = 0;
itslinear 1:4e84271a70c6 39
itslinear 9:d9e46f9c9e40 40 while(sensors[0] < x && sensors[1] < x && sensors[5] < x) { // alle sensoren aktiv, roboter fährt nach hinten
itslinear 9:d9e46f9c9e40 41 offsetLin = 0.1f;
itslinear 9:d9e46f9c9e40 42 *pwmL = 0.5f+offsetDir-offsetLin; // Setzt die Duty-Cycle auf 50%
itslinear 9:d9e46f9c9e40 43 *pwmR = 0.5f+offsetDir+offsetLin;
itslinear 9:d9e46f9c9e40 44
itslinear 9:d9e46f9c9e40 45 }
itslinear 9:d9e46f9c9e40 46
itslinear 9:d9e46f9c9e40 47 while(sensors[0].read() < x && sensors[5] > x) { // sensor vorne, roboter dreht nach links
itslinear 9:d9e46f9c9e40 48 offsetDir = -0.05;
itslinear 9:d9e46f9c9e40 49 *pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
itslinear 9:d9e46f9c9e40 50 *pwmR = 0.5f+offsetDir-offsetLin;
itslinear 9:d9e46f9c9e40 51
itslinear 6:4af735d26b7a 52 }
itslinear 0:306a2438de17 53
itslinear 9:d9e46f9c9e40 54 while(sensors[1] < x) { // sensor rechts, roboter dreht nach links
itslinear 1:4e84271a70c6 55 offsetDir = -0.05;
itslinear 9:d9e46f9c9e40 56 *pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
itslinear 9:d9e46f9c9e40 57 *pwmR = 0.5f+offsetDir-offsetLin;
itslinear 9:d9e46f9c9e40 58
itslinear 1:4e84271a70c6 59 }
itslinear 1:4e84271a70c6 60
itslinear 9:d9e46f9c9e40 61 while(sensors[5] < x && sensors[1]>(x+0.02f)) { // sensor links, roboter dreht nach rechts
itslinear 9:d9e46f9c9e40 62 offsetDir = 0.08;
itslinear 9:d9e46f9c9e40 63 *pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
itslinear 9:d9e46f9c9e40 64 *pwmR = 0.5f+offsetDir-offsetLin;
itslinear 9:d9e46f9c9e40 65
itslinear 9:d9e46f9c9e40 66 }
itslinear 1:4e84271a70c6 67
itslinear 3:24e098715b78 68 }
schneju2 2:953263712480 69
schneju2 2:953263712480 70
schneju2 2:953263712480 71
itslinear 1:4e84271a70c6 72
itslinear 3:24e098715b78 73 void Roboter::pickup ()
itslinear 3:24e098715b78 74 {
itslinear 3:24e098715b78 75
itslinear 0:306a2438de17 76
schneju2 2:953263712480 77
itslinear 3:24e098715b78 78 }