Revision 1:4e84271a70c6, committed 2017-04-04

Comitter:

itslinear

Date:

Tue Apr 04 11:55:54 2017 +0000

Parent:

0:306a2438de17

Child:

2:953263712480

Commit message:

fds

Changed in this revision

--- a/Motoren.cpp	Tue Mar 21 12:42:01 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-#include "Motoren.h"
\ No newline at end of file

--- a/Motoren.h	Tue Mar 21 12:42:01 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,26 +0,0 @@
-#ifndef MOTOREN_H
-#define MOTOREN_H
-
-#include <mbed.h>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-#endif 
\ No newline at end of file

--- a/Roboter.cpp	Tue Mar 21 12:42:01 2017 +0000
+++ b/Roboter.cpp	Tue Apr 04 11:55:54 2017 +0000
@@ -1,50 +1,60 @@
-
 #include "Roboter.h"
 
 
+Roboter::Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR)
+{
 
-//timer object for ledshow and distance sensor
-Ticker t1;
+    sensors[0].init( distance, bit0, bit1, bit2, 0);
+    sensors[1].init( distance, bit0, bit1, bit2, 1);
+    sensors[2].init( distance, bit0, bit1, bit2, 2);
+    sensors[3].init( distance, bit0, bit1, bit2, 3);
+    sensors[4].init( distance, bit0, bit1, bit2, 4);
+    sensors[5].init( distance, bit0, bit1, bit2, 5);
 
-//lights up the led according to the sensor signal
-void ledDistance()
+    this->pwmR = pwmR;
+    this->pwmL = pwmL;
+
+    pwmL->period(0.00005f); // Setzt die Periode auf 50 μs
+    pwmR->period(0.00005f);
+
+}
+
+float Roboter::readSensor1()
 {
-    for( int ii = 0; ii<6; ++ii)
-        sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0;
+    return sensors[0].read();
+
 }
 
-//blinks at startup and starts ledDistance task
-void ledShow()
+
+void Roboter::bandeAusweichen()
 {
-    static int timer = 0;
-    for( int ii = 0; ii<6; ++ii)
-        leds[ii] = !leds[ii];
+    float offsetDir;
+    float offsetLin;
+
+    float x=0.13f;       // Distanz ab welcher sensoren reagieren sollen
+
+
+    offsetDir = 0;
+    offsetLin = 0.1;
+
 
-    //quit ticker and start led distance show
-    if( ++timer > 10) {
-        t1.detach();
-        t1.attach( &ledDistance, 0.01f );
+    if(sensors[0].read() < x && sensors[5] > x) { // sensor vorne, roboter dreht nach links
+        offsetDir = -0.05;
+        offsetLin = 0;
+    }
+    if(sensors[1] < x) {     // sensor rechts, roboter dreht nach links
+        offsetDir = -0.05;
+        offsetLin = 0;
     }
+    if(sensors[5] < x && sensors[1]>(x+0.02f)) {     // sensor links, roboter dreht nach rechts
+        offsetDir = 0.05;
+        offsetLin = 0;
+    }
+
+    *pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
+    *pwmR = 0.5f+offsetDir-offsetLin;
+
+    wait(0.1);
+
 }
 
-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 );
-    }
-}

--- a/Roboter.h	Tue Mar 21 12:42:01 2017 +0000
+++ b/Roboter.h	Tue Apr 04 11:55:54 2017 +0000
@@ -2,39 +2,29 @@
 #define ROBOTER_H
 
 #include <mbed.h>
-#include "Motoren.h"
 #include "IRSensor.h"
-#include "Kamera.h"
 
-class Roboter : class IRSensor
+class Roboter
 {
-    
+
 public:
 
-    Roboter : IRSensor(distance,bit0,bit1,bit2,number)
-    
+    Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2,   PwmOut * pwmL, PwmOut* pwmR);
+
+    void bandeAusweichen();
+    float readSensor1();
 
+private:
+    IRSensor sensors[6];
+
+    PwmOut* pwmL;
+    PwmOut* pwmR;
 
 
 
 
-
-
-
-
-
-
-
+};
 
 
 
-
-
-
-
-
-
-
-
-
-#endif 
\ No newline at end of file
+#endif
\ No newline at end of file

--- a/main.cpp	Tue Mar 21 12:42:01 2017 +0000
+++ b/main.cpp	Tue Apr 04 11:55:54 2017 +0000
@@ -4,27 +4,35 @@
 DigitalOut led(LED1);
 
 //Periphery for distance sensors
-AnalogIn distance(PB_1); 
+AnalogIn distance(PB_1);
 DigitalOut enable(PC_1);
 DigitalOut bit0(PH_1);
 DigitalOut bit1(PC_2);
 DigitalOut bit2(PC_3);
 IRSensor sensors[6];
 
+PwmOut pwmL( PA_8 );
+PwmOut pwmR( PA_9 );
+
 //motor stuff
 DigitalOut enableMotorDriver(PB_2);
-PwmOut pwmL(PA_8);
-PwmOut pwmR(PA_9);
 
 //indicator leds arround robot
 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
 
+Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR);
 
-int main(){
-    
-    
-    
-    
-    
-return 0; 
-}
\ No newline at end of file
+int main()
+{
+    enable = 1;
+    enableMotorDriver = 1;
+
+    while(1) {
+
+        roboter1.bandeAusweichen();
+       // roboter.readSensor1();
+        
+        wait(0.1f);
+
+    }
+}