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hallo
Fork of PES1 by
main.cpp
- Committer:
- Shukle
- Date:
- 2017-04-21
- Revision:
- 16:0a1703438e8b
- Parent:
- 14:7e330f65f26e
- Child:
- 17:caf5ae550f2e
File content as of revision 16:0a1703438e8b:
#include <mbed.h> #include "Roboter.h" DigitalOut led(LED1); //Periphery for distance sensors AnalogIn distance(PB_1); DigitalOut enable(PC_1); DigitalOut bit0(PH_1); DigitalOut bit1(PC_2); DigitalOut bit2(PC_3); IRSensor sensors[6]; // Periphery for servos Servo servos1(PB_7); Servo servos2(PA_6); //Periphery for limit switch DigitalIn limitSwitch1(PA_10); DigitalIn limitSwitch2(PB_13); //Periphery for Switch ON/OFF DigitalIn switchOnOff(USER_BUTTON); //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, &servos1,&servos2, &limitSwitch1, &limitSwitch2); int main() { enable = 1; // Sensoren einschalten enableMotorDriver = 1; // Schaltet die Motoren ein pwmL.period(0.00005f); // Setzt die Periode auf 50 μs pwmR.period(0.00005f); pwmL = 0.5f; pwmR = 0.5f; int state = 0; // Diese Variable gibt an in welchem State man sich befindet int tempState = 2; int time1 = 0; int time2 = 0; while(1) { int camValue = readCamera(); switch(state) { case 0: // Roboter Anschalten mit Knopf printf("0"); if (switchOnOff == 0) { state = 1; } break; case 1: printf("1"); if(camValue == 1 || camValue == 2 || camValue == 3) { // Die Kamera erkennt ein grünen Klotz state = 4; } if(camValue == 4) { // Roboter in Position state = 5; } if(camValue == 0){ state = tempState; } break; case 2: printf("2"); if(time1 < 20) { // Im Kreis drehen für 1s pwmL = 0.4f; pwmR = 0.4f; time1 ++; state = 1; tempState = 2; } else { time1 = 0; pwmL = 0.5f; pwmR = 0.5f; state = 3; } break; case 3: printf("3"); roboter1.bandeAusweichen(); if(time2 < 40) { // gerade aus fahren pwmL = 0.6f; pwmR = 0.4f; time2 ++; state = 1; tempState = 3; } else { time2 = 0; pwmL = 0.5f; pwmR = 0.5f; state = 2; } break; case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren printf("4"); roboter1.bandeAusweichen(); if(camValue == 1) { // links fahren pwmL = 0.45f; pwmR = 0.45f; } if(camValue == 2) { // rechts fahren pwmL = 0.55f; pwmR = 0.55f; } if(camValue == 3) { // gerade fahren pwmL = 0.55f; pwmR = 0.45f; } state = 1; break; case 5: // Aufnehmen des Klotzes printf("5"); pwmL = 0.5f; pwmR = 0.5f; state = 1; time1 = 0; time2 = 0; break; default: break; } //wait(0.1f); } }