Gruppe 3 / Mbed 2 deprecated PES3

hallo

Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

main.cpp@6:4af735d26b7a, 2017-04-11 (annotated)

Committer:
itslinear
Date:
Tue Apr 11 14:53:18 2017 +0000
Revision:
6:4af735d26b7a
Parent:
5:f48b2609c328
Child:
7:edb4e0cfc0d1
new

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itslinear 0:306a2438de17 1 #include <mbed.h>
itslinear 0:306a2438de17 2 #include "Roboter.h"
itslinear 0:306a2438de17 3
itslinear 0:306a2438de17 4 DigitalOut led(LED1);
itslinear 0:306a2438de17 5
itslinear 0:306a2438de17 6 //Periphery for distance sensors
itslinear 1:4e84271a70c6 7 AnalogIn distance(PB_1);
itslinear 0:306a2438de17 8 DigitalOut enable(PC_1);
itslinear 0:306a2438de17 9 DigitalOut bit0(PH_1);
itslinear 0:306a2438de17 10 DigitalOut bit1(PC_2);
itslinear 0:306a2438de17 11 DigitalOut bit2(PC_3);
itslinear 0:306a2438de17 12 IRSensor sensors[6];
itslinear 0:306a2438de17 13
schneju2 2:953263712480 14 // Periphery for servos
itslinear 4:fdcf3b5009c6 15 Servo servos1(PB_7);
itslinear 4:fdcf3b5009c6 16 Servo servos2(PA_6);
itslinear 4:fdcf3b5009c6 17
itslinear 6:4af735d26b7a 18 //Periphery for limit switch
itslinear 4:fdcf3b5009c6 19 DigitalIn limitSwitch1(PA_10);
itslinear 6:4af735d26b7a 20 DigitalIn limitSwitch2(PB_13);
schneju2 2:953263712480 21
itslinear 6:4af735d26b7a 22 //Periphery for Switch ON/OFF
schneju2 5:f48b2609c328 23
itslinear 6:4af735d26b7a 24 DigitalIn swichtOnOFF (USER_BUTTON);
schneju2 5:f48b2609c328 25
itslinear 0:306a2438de17 26 //motor stuff
itslinear 0:306a2438de17 27 DigitalOut enableMotorDriver(PB_2);
itslinear 3:24e098715b78 28 PwmOut pwmL( PA_8 );
itslinear 3:24e098715b78 29 PwmOut pwmR( PA_9 );
itslinear 0:306a2438de17 30
itslinear 0:306a2438de17 31 //indicator leds arround robot
itslinear 0:306a2438de17 32 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
itslinear 0:306a2438de17 33
itslinear 4:fdcf3b5009c6 34 Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2, &limitSwitch1, &limitSwitch2);
itslinear 0:306a2438de17 35
itslinear 1:4e84271a70c6 36 int main()
itslinear 1:4e84271a70c6 37 {
itslinear 6:4af735d26b7a 38 enable = 1; // Sensoren einschalten
itslinear 6:4af735d26b7a 39 enableMotorDriver = 1; // Schaltet die Motoren ein
schneju2 5:f48b2609c328 40 pwmL->period(0.00005f); // Setzt die Periode auf 50 μs
schneju2 5:f48b2609c328 41 pwmR->period(0.00005f);
itslinear 6:4af735d26b7a 42
schneju2 5:f48b2609c328 43 int state = 0; // Diese Variable gibt an in welchem State man sich befindet
itslinear 3:24e098715b78 44
itslinear 6:4af735d26b7a 45 if ( kamera() == 1) {
itslinear 6:4af735d26b7a 46 state = 4;
itslinear 6:4af735d26b7a 47 ) // Die Kamera erkennt ein grünen Klotz
itslinear 6:4af735d26b7a 48 while(1) {
itslinear 6:4af735d26b7a 49
itslinear 6:4af735d26b7a 50 switch(state) {
itslinear 6:4af735d26b7a 51
itslinear 6:4af735d26b7a 52 case 1: // Roboter Anschalten mit Knopf
itslinear 6:4af735d26b7a 53
itslinear 6:4af735d26b7a 54 if (switchOnOff == 1) {
itslinear 6:4af735d26b7a 55 state = 2;
itslinear 6:4af735d26b7a 56 }
itslinear 6:4af735d26b7a 57 if (swichtOnOff ==0) {
itslinear 6:4af735d26b7a 58 state =1;
itslinear 6:4af735d26b7a 59 }
itslinear 6:4af735d26b7a 60 break;
itslinear 6:4af735d26b7a 61
itslinear 6:4af735d26b7a 62 case 2:
itslinear 6:4af735d26b7a 63 roboter1.bandeAusweichen();
itslinear 6:4af735d26b7a 64 static int time1 = 0;
itslinear 6:4af735d26b7a 65 if(time1 < 10) { // Im Kreis drehen für 1s
itslinear 6:4af735d26b7a 66 pwmL = 0.4f;
itslinear 6:4af735d26b7a 67 pwmR = 0.4f;
itslinear 6:4af735d26b7a 68 time1 ++;
itslinear 6:4af735d26b7a 69 } else {
itslinear 6:4af735d26b7a 70 time1 = 0;
itslinear 6:4af735d26b7a 71 pwmL = 0.5f;
itslinear 6:4af735d26b7a 72 pwmR = 0.5f;
itslinear 6:4af735d26b7a 73 state = 3;
itslinear 6:4af735d26b7a 74 }
itslinear 6:4af735d26b7a 75 break;
itslinear 6:4af735d26b7a 76
itslinear 3:24e098715b78 77
itslinear 6:4af735d26b7a 78 case 3:
itslinear 6:4af735d26b7a 79 roboter1.bandeAusweichen();
itslinear 6:4af735d26b7a 80 static int time2 = 0;
itslinear 6:4af735d26b7a 81 if(time2 < 10) { // gerade aus fahren
itslinear 6:4af735d26b7a 82 pwmL = 0.6f;
itslinear 6:4af735d26b7a 83 pwmR = 0.4f;
itslinear 6:4af735d26b7a 84 time2 ++;
itslinear 6:4af735d26b7a 85 } else {
itslinear 6:4af735d26b7a 86 time2 = 0;
itslinear 6:4af735d26b7a 87 pwmL = 0.5f;
itslinear 6:4af735d26b7a 88 pwmR = 0.5f;
itslinear 6:4af735d26b7a 89 state = 2;
itslinear 6:4af735d26b7a 90 }
itslinear 6:4af735d26b7a 91 break;
itslinear 6:4af735d26b7a 92
itslinear 6:4af735d26b7a 93
itslinear 6:4af735d26b7a 94 case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
itslinear 3:24e098715b78 95
itslinear 6:4af735d26b7a 96 ...
itslinear 6:4af735d26b7a 97 break;
itslinear 6:4af735d26b7a 98
itslinear 6:4af735d26b7a 99 case 5: // Aufnehmen des Klotzes
itslinear 6:4af735d26b7a 100
itslinear 6:4af735d26b7a 101
itslinear 6:4af735d26b7a 102 .....
itslinear 6:4af735d26b7a 103 break;
itslinear 6:4af735d26b7a 104
itslinear 6:4af735d26b7a 105
itslinear 6:4af735d26b7a 106 default
itslinear 6:4af735d26b7a 107
itslinear 6:4af735d26b7a 108 ... break ;
itslinear 6:4af735d26b7a 109 }
itslinear 6:4af735d26b7a 110
itslinear 6:4af735d26b7a 111 wait(0.1f);
itslinear 6:4af735d26b7a 112
itslinear 6:4af735d26b7a 113 }
schneju2 5:f48b2609c328 114
schneju2 5:f48b2609c328 115 }
itslinear 1:4e84271a70c6 116