Gruppe 3 / Mbed 2 deprecated PES3

hallo

Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

Roboter.cpp@0:306a2438de17, 2017-03-21 (annotated)

Committer:
itslinear
Date:
Tue Mar 21 12:42:01 2017 +0000
Revision:
0:306a2438de17
Child:
1:4e84271a70c6
hoiii

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itslinear 0:306a2438de17 1
itslinear 0:306a2438de17 2 #include "Roboter.h"
itslinear 0:306a2438de17 3
itslinear 0:306a2438de17 4
itslinear 0:306a2438de17 5
itslinear 0:306a2438de17 6 //timer object for ledshow and distance sensor
itslinear 0:306a2438de17 7 Ticker t1;
itslinear 0:306a2438de17 8
itslinear 0:306a2438de17 9 //lights up the led according to the sensor signal
itslinear 0:306a2438de17 10 void ledDistance()
itslinear 0:306a2438de17 11 {
itslinear 0:306a2438de17 12 for( int ii = 0; ii<6; ++ii)
itslinear 0:306a2438de17 13 sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0;
itslinear 0:306a2438de17 14 }
itslinear 0:306a2438de17 15
itslinear 0:306a2438de17 16 //blinks at startup and starts ledDistance task
itslinear 0:306a2438de17 17 void ledShow()
itslinear 0:306a2438de17 18 {
itslinear 0:306a2438de17 19 static int timer = 0;
itslinear 0:306a2438de17 20 for( int ii = 0; ii<6; ++ii)
itslinear 0:306a2438de17 21 leds[ii] = !leds[ii];
itslinear 0:306a2438de17 22
itslinear 0:306a2438de17 23 //quit ticker and start led distance show
itslinear 0:306a2438de17 24 if( ++timer > 10) {
itslinear 0:306a2438de17 25 t1.detach();
itslinear 0:306a2438de17 26 t1.attach( &ledDistance, 0.01f );
itslinear 0:306a2438de17 27 }
itslinear 0:306a2438de17 28 }
itslinear 0:306a2438de17 29
itslinear 0:306a2438de17 30 int IRSensor()
itslinear 0:306a2438de17 31 {
itslinear 0:306a2438de17 32 pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
itslinear 0:306a2438de17 33 pwmR.period(0.00005f);
itslinear 0:306a2438de17 34
itslinear 0:306a2438de17 35 pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
itslinear 0:306a2438de17 36 pwmR = 0.5f;
itslinear 0:306a2438de17 37 enableMotorDriver = 0;
itslinear 0:306a2438de17 38
itslinear 0:306a2438de17 39 t1.attach( &ledShow, 0.05f );
itslinear 0:306a2438de17 40
itslinear 0:306a2438de17 41 //init distance sensors
itslinear 0:306a2438de17 42 for( int ii = 0; ii<6; ++ii)
itslinear 0:306a2438de17 43 sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);
itslinear 0:306a2438de17 44
itslinear 0:306a2438de17 45 enable = 1;
itslinear 0:306a2438de17 46
itslinear 0:306a2438de17 47 while(1) {
itslinear 0:306a2438de17 48 wait( 0.2f );
itslinear 0:306a2438de17 49 }
itslinear 0:306a2438de17 50 }