Gruppe 3
/
PES1
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Revision 2:953263712480, committed 2017-04-04
- Comitter:
- schneju2
- Date:
- Tue Apr 04 13:22:24 2017 +0000
- Parent:
- 1:4e84271a70c6
- Child:
- 3:24e098715b78
- Commit message:
- mit servos
Changed in this revision
--- a/Roboter.cpp Tue Apr 04 11:55:54 2017 +0000
+++ b/Roboter.cpp Tue Apr 04 13:22:24 2017 +0000
@@ -1,7 +1,7 @@
#include "Roboter.h"
-Roboter::Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR)
+Roboter::Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR, Servo* s1, Servo* s2)
{
sensors[0].init( distance, bit0, bit1, bit2, 0);
@@ -54,7 +54,17 @@
*pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
*pwmR = 0.5f+offsetDir-offsetLin;
- wait(0.1);
+ wait(0.1);
+ }
+
+
+
-}
+void Roboter::pickup (){
+
+
+
+
+}
+
--- a/Roboter.h Tue Apr 04 11:55:54 2017 +0000
+++ b/Roboter.h Tue Apr 04 13:22:24 2017 +0000
@@ -3,23 +3,27 @@
#include <mbed.h>
#include "IRSensor.h"
+#include "Servo.h"
class Roboter
{
public:
- Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut * pwmL, PwmOut* pwmR);
+ Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut * pwmL, PwmOut* pwmR, Servo* s1, Servo* s2);
void bandeAusweichen();
float readSensor1();
+ void pickup();
private:
IRSensor sensors[6];
+
PwmOut* pwmL;
PwmOut* pwmR;
-
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Tue Apr 04 13:22:24 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servos.cpp Tue Apr 04 13:22:24 2017 +0000 @@ -0,0 +1,5 @@ +#include "Servos.h" +#include "Servo.h" + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Servos.h Tue Apr 04 13:22:24 2017 +0000
@@ -0,0 +1,18 @@
+#ifndef SERVOS_H_
+#define SERVOS_H_
+
+#include <mbed.h>
+
+
+class Servos{
+
+ public:
+
+
+
+
+
+
+ }
+
+ #endif /* SERVOS_H_ */
\ No newline at end of file
--- a/main.cpp Tue Apr 04 11:55:54 2017 +0000
+++ b/main.cpp Tue Apr 04 13:22:24 2017 +0000
@@ -14,13 +14,17 @@
PwmOut pwmL( PA_8 );
PwmOut pwmR( PA_9 );
+// Periphery for servos
+Servos servos1(PB_7);
+Servos servos2(PA_6);
+
//motor stuff
DigitalOut enableMotorDriver(PB_2);
//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);
+Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2);
int main()
{
@@ -36,3 +40,4 @@
}
}
+