Revision 4:fdcf3b5009c6, committed 2017-04-11

Comitter:

itslinear

Date:

Tue Apr 11 11:47:04 2017 +0000

Parent:

3:24e098715b78

Child:

5:f48b2609c328

Commit message:

hallo

Changed in this revision

--- a/Roboter.cpp	Tue Apr 04 13:27:59 2017 +0000
+++ b/Roboter.cpp	Tue Apr 11 11:47:04 2017 +0000
@@ -1,7 +1,8 @@
 #include "Roboter.h"
 
 
-Roboter::Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR, Servo* s1, Servo* s2)
+Roboter::Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2, PwmOut* pwmL, PwmOut* pwmR, Servo* s1, Servo* s2,DigitalIn* switch1, DigitalIn* switch2)
+
 {
 
     sensors[0].init( distance, bit0, bit1, bit2, 0);
@@ -13,6 +14,11 @@
 
     this->pwmR = pwmR;
     this->pwmL = pwmL;
+    this->s1 = s1;
+    this->s2 = s2;
+    this->switch1 = switch1;
+    this->switch2 = switch2;
+
 
     pwmL->period(0.00005f); // Setzt die Periode auf 50 μs
     pwmR->period(0.00005f);
@@ -54,7 +60,6 @@
     *pwmL = 0.5f+offsetDir+offsetLin; // Setzt die Duty-Cycle auf 50%
     *pwmR = 0.5f+offsetDir-offsetLin;
 
-    wait(0.1);
 }
 
 
@@ -67,10 +72,22 @@
 
 }
 
-void Roboter::turn()      //im Kreis drehen
+void Roboter::findBlock()      //im Kreis drehen
 {
+    static int count =0;
+    count++;
+
+    if(count <= 10);      //1s lang (10*0.1s) im Kreis drehen
     *pwmL = 0.55f;
-    *pwmR = 0.45f;
+    *pwmR = 0.55f;
+
+    if(count > 10 && count <= 20); //zwischen Sekunde 1 und 2 geradeaus fahren
+    *pwmL = 0.6f;
+    *pwmR = 0.4f;
+
+    if(count > 20 && count <=30); //zwischen Sekunde 2 und 3 im Kreis drehen
+    *pwmL = 0.55f;
+    *pwmR = 0.55f;
 
 }
 

--- a/Roboter.h	Tue Apr 04 13:27:59 2017 +0000
+++ b/Roboter.h	Tue Apr 11 11:47:04 2017 +0000
@@ -10,12 +10,12 @@
 
 public:
 
-    Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2,   PwmOut * pwmL, PwmOut* pwmR, Servo* s1, Servo* s2);
+    Roboter(AnalogIn* distance, DigitalOut* bit0, DigitalOut* bit1, DigitalOut* bit2,   PwmOut * pwmL, PwmOut* pwmR, Servo* s1, Servo* s2, DigitalIn * switch1, DigitalIn* switch2 );
 
     void bandeAusweichen();
     float readSensor1();
     void pickup();
-    void turn();
+    void findBlock();
 
 
 private:
@@ -24,6 +24,10 @@
 
     PwmOut* pwmL;
     PwmOut* pwmR;
+    Servo*s1;
+    Servo*s2;
+    DigitalIn * switch1;
+    DigitalIn* switch2; 
 
 
 

--- a/Servos.cpp	Tue Apr 04 13:27:59 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,5 +0,0 @@
-#include "Servos.h" 
-#include "Servo.h" 
-
-
-

--- a/Servos.h	Tue Apr 04 13:27:59 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,18 +0,0 @@
-#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 13:27:59 2017 +0000
+++ b/main.cpp	Tue Apr 11 11:47:04 2017 +0000
@@ -12,8 +12,12 @@
 IRSensor sensors[6];
 
 // Periphery for servos
-Servos servos1(PB_7);
-Servos servos2(PA_6);
+Servo servos1(PB_7);
+Servo servos2(PA_6);
+
+//Periphery for limit switch 
+DigitalIn limitSwitch1(PA_10);
+DigitalIn limitSwitch2(PB_13); 
 
 //motor stuff
 DigitalOut enableMotorDriver(PB_2);
@@ -23,31 +27,29 @@
 //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, &servos1,&servos2);
+Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2, &limitSwitch1, &limitSwitch2);
 
 int main()
 {
     enable = 1;
     enableMotorDriver = 1;
 
-    while(1) {
-
-        roboter1.kamera();        //Kameraauswertung
+    /*roboter1.kamera();        //Kameraauswertung
 
-        roboter1.getBlock
-
-        while(camY>20) {          //ausweichen aktive solange Y-Wert von Kamera grösser als 20
-            roboter1.bandeAusweichen();
-        }
+    while(cam=1) {
+        roboter1.getBlock();
+        wait(0.1f);
+    }*/
 
-        while(cam==0) {           //im Kreis drehen bis Kamera einen Klotz sieht
-            if(
-                roboter1.turn();
-        }
+    //while(cam==1 && camY>20) {         //ausweichen aktive solange Y-Wert von Kamera grösser als 20
+        roboter1.bandeAusweichen();
+        wait(0.1f);
+    //}
 
-
+    //while(cam==0) {           //im Kreis drehen bis Kamera einen Klotz sieht
+        roboter1.findBlock();
         wait(0.1f);
+    //}
 
-    }
 }