Diff: Roboter.cpp

Revision:

0:306a2438de17

Child:

1:4e84271a70c6

diff -r 000000000000 -r 306a2438de17 Roboter.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Roboter.cpp	Tue Mar 21 12:42:01 2017 +0000
@@ -0,0 +1,50 @@
+
+#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 );
+    }
+}