Gruppe 3 / Mbed 2 deprecated PES3

hallo

Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

main.cpp@9:d9e46f9c9e40, 2017-04-19 (annotated)

Committer:
itslinear
Date:
Wed Apr 19 10:07:55 2017 +0000
Revision:
9:d9e46f9c9e40
Parent:
8:6d9cd5ad332d
Child:
12:b9faf8637183
tada

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 7:edb4e0cfc0d1 24 DigitalIn switchOnOff(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
itslinear 7:edb4e0cfc0d1 40 pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
itslinear 7:edb4e0cfc0d1 41 pwmR.period(0.00005f);
schneju2 8:6d9cd5ad332d 42 pwmL = 0.5f;
itslinear 9:d9e46f9c9e40 43 pwmR = 0.5f;
itslinear 9:d9e46f9c9e40 44
itslinear 6:4af735d26b7a 45
itslinear 7:edb4e0cfc0d1 46 int state = 1; // Diese Variable gibt an in welchem State man sich befindet
itslinear 3:24e098715b78 47
itslinear 9:d9e46f9c9e40 48
itslinear 9:d9e46f9c9e40 49 while(1) {
itslinear 9:d9e46f9c9e40 50
itslinear 9:d9e46f9c9e40 51 if (kamera() == 1 || kamera() == 2 || kamera() == 3) { // Die Kamera erkennt ein grünen Klotz
itslinear 9:d9e46f9c9e40 52 state = 4;
itslinear 9:d9e46f9c9e40 53 }
itslinear 9:d9e46f9c9e40 54 if(kamera() == 4) { // Roboter in Position
itslinear 9:d9e46f9c9e40 55 state = 5;
itslinear 9:d9e46f9c9e40 56 }
itslinear 9:d9e46f9c9e40 57
itslinear 6:4af735d26b7a 58
itslinear 6:4af735d26b7a 59 switch(state) {
itslinear 6:4af735d26b7a 60
itslinear 9:d9e46f9c9e40 61 case 1: // Roboter Anschalten mit Knopf
itslinear 6:4af735d26b7a 62
itslinear 9:d9e46f9c9e40 63 if (switchOnOff== 0) {
itslinear 9:d9e46f9c9e40 64 state = 2;
itslinear 9:d9e46f9c9e40 65 }
itslinear 7:edb4e0cfc0d1 66
itslinear 9:d9e46f9c9e40 67 break;
itslinear 6:4af735d26b7a 68
itslinear 9:d9e46f9c9e40 69 case 2:
itslinear 9:d9e46f9c9e40 70 static int time1 = 0;
itslinear 9:d9e46f9c9e40 71 if(time1 < 20) { // Im Kreis drehen für 1s
itslinear 9:d9e46f9c9e40 72 pwmL = 0.4f;
itslinear 9:d9e46f9c9e40 73 pwmR = 0.4f;
itslinear 9:d9e46f9c9e40 74 time1 ++;
itslinear 9:d9e46f9c9e40 75 } else {
itslinear 9:d9e46f9c9e40 76 time1 = 0;
itslinear 9:d9e46f9c9e40 77 pwmL = 0.5f;
itslinear 9:d9e46f9c9e40 78 pwmR = 0.5f;
itslinear 9:d9e46f9c9e40 79 state = 3;
itslinear 9:d9e46f9c9e40 80 }
itslinear 9:d9e46f9c9e40 81 break;
itslinear 6:4af735d26b7a 82
itslinear 3:24e098715b78 83
itslinear 9:d9e46f9c9e40 84 case 3:
itslinear 9:d9e46f9c9e40 85 roboter1.bandeAusweichen();
itslinear 9:d9e46f9c9e40 86 static int time2 = 0;
itslinear 9:d9e46f9c9e40 87 if(time2 < 40) { // gerade aus fahren
itslinear 9:d9e46f9c9e40 88 pwmL = 0.6f;
itslinear 9:d9e46f9c9e40 89 pwmR = 0.4f;
itslinear 9:d9e46f9c9e40 90 time2 ++;
itslinear 9:d9e46f9c9e40 91 } else {
itslinear 9:d9e46f9c9e40 92 time2 = 0;
itslinear 9:d9e46f9c9e40 93 pwmL = 0.5f;
itslinear 9:d9e46f9c9e40 94 pwmR = 0.5f;
itslinear 9:d9e46f9c9e40 95 state = 2;
itslinear 9:d9e46f9c9e40 96 }
itslinear 9:d9e46f9c9e40 97 break;
itslinear 6:4af735d26b7a 98
itslinear 6:4af735d26b7a 99
itslinear 9:d9e46f9c9e40 100 case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
itslinear 9:d9e46f9c9e40 101 roboter1.bandeAusweichen();
itslinear 9:d9e46f9c9e40 102 if(kamera() == 1) { // links fahren
itslinear 9:d9e46f9c9e40 103 pwmL = 0.45f;
itslinear 9:d9e46f9c9e40 104 pwmR = 0.45f;
itslinear 9:d9e46f9c9e40 105 }
itslinear 9:d9e46f9c9e40 106 if(kamera() == 2) { // rechts fahren
itslinear 9:d9e46f9c9e40 107 pwmL = 0.55f;
itslinear 9:d9e46f9c9e40 108 pwmR = 0.55f;
itslinear 9:d9e46f9c9e40 109 }
itslinear 9:d9e46f9c9e40 110 if(kamera() == 3) { // gerade fahren
itslinear 9:d9e46f9c9e40 111 pwmL = 0.55f;
itslinear 9:d9e46f9c9e40 112 pwmR = 0.45f;
itslinear 9:d9e46f9c9e40 113 }
itslinear 6:4af735d26b7a 114
itslinear 9:d9e46f9c9e40 115 break;
itslinear 9:d9e46f9c9e40 116
itslinear 9:d9e46f9c9e40 117 case 5: // Aufnehmen des Klotzes
itslinear 9:d9e46f9c9e40 118
itslinear 9:d9e46f9c9e40 119
itslinear 6:4af735d26b7a 120
itslinear 9:d9e46f9c9e40 121 break;
itslinear 9:d9e46f9c9e40 122
itslinear 6:4af735d26b7a 123
itslinear 9:d9e46f9c9e40 124 default:
itslinear 9:d9e46f9c9e40 125 break;
itslinear 9:d9e46f9c9e40 126
itslinear 6:4af735d26b7a 127
itslinear 6:4af735d26b7a 128 }
schneju2 5:f48b2609c328 129
itslinear 9:d9e46f9c9e40 130 wait(0.1f);
itslinear 9:d9e46f9c9e40 131
schneju2 5:f48b2609c328 132 }
itslinear 1:4e84271a70c6 133
itslinear 9:d9e46f9c9e40 134 }
itslinear 9:d9e46f9c9e40 135