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Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

main.cpp@21:69ee872b8ee9, 2017-05-16 (annotated)

Committer:
itslinear
Date:
Tue May 16 16:09:08 2017 +0000
Revision:
21:69ee872b8ee9
Parent:
20:a90e5b54bf7b 
sieg

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 18:3ee1b02ed3aa 4
itslinear 18:3ee1b02ed3aa 5 //Periphery for Encoder
itslinear 18:3ee1b02ed3aa 6 EncoderCounter counterLeft(PB_6, PB_7);
itslinear 18:3ee1b02ed3aa 7 EncoderCounter counterRight(PA_6, PC_7);
itslinear 18:3ee1b02ed3aa 8
itslinear 0:306a2438de17 9
itslinear 0:306a2438de17 10 //Periphery for distance sensors
itslinear 1:4e84271a70c6 11 AnalogIn distance(PB_1);
itslinear 0:306a2438de17 12 DigitalOut enable(PC_1);
itslinear 0:306a2438de17 13 DigitalOut bit0(PH_1);
itslinear 0:306a2438de17 14 DigitalOut bit1(PC_2);
itslinear 0:306a2438de17 15 DigitalOut bit2(PC_3);
itslinear 0:306a2438de17 16 IRSensor sensors[6];
itslinear 0:306a2438de17 17
schneju2 2:953263712480 18 // Periphery for servos
itslinear 18:3ee1b02ed3aa 19 Servo servo1(PB_13); //Greiferservo Anschluss D2
itslinear 18:3ee1b02ed3aa 20 Servo servo2(PA_10); //Armservo Anschluss D0
itslinear 4:fdcf3b5009c6 21
itslinear 6:4af735d26b7a 22 //Periphery for Switch ON/OFF
itslinear 7:edb4e0cfc0d1 23 DigitalIn switchOnOff(USER_BUTTON);
schneju2 5:f48b2609c328 24
itslinear 0:306a2438de17 25 //motor stuff
itslinear 0:306a2438de17 26 DigitalOut enableMotorDriver(PB_2);
itslinear 3:24e098715b78 27 PwmOut pwmL( PA_8 );
itslinear 3:24e098715b78 28 PwmOut pwmR( PA_9 );
itslinear 0:306a2438de17 29
itslinear 0:306a2438de17 30 //indicator leds arround robot
itslinear 0:306a2438de17 31 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
itslinear 0:306a2438de17 32
itslinear 18:3ee1b02ed3aa 33 // Erstellen eines Roboterobjekts
itslinear 18:3ee1b02ed3aa 34 Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servo1, &servo2, &counterLeft, &counterRight, &enableMotorDriver);
itslinear 0:306a2438de17 35
itslinear 1:4e84271a70c6 36 int main()
itslinear 1:4e84271a70c6 37 {
itslinear 18:3ee1b02ed3aa 38 int state = 0; // Diese Variable gibt an in welchem State man sich befindet
itslinear 18:3ee1b02ed3aa 39 int tempState = 2; // Wird benötig um zwischen Kameraauswertung und fahren zu wechseln
itslinear 20:a90e5b54bf7b 40 int temp = 0;
itslinear 18:3ee1b02ed3aa 41 enable = 1; // Sensoren einschalten
itslinear 18:3ee1b02ed3aa 42 servo1.Enable(1500,20000);
itslinear 18:3ee1b02ed3aa 43 servo2.Enable(700,20000);
itslinear 19:adae367247d4 44 wait(1);
itslinear 18:3ee1b02ed3aa 45 float camValue;
itslinear 9:d9e46f9c9e40 46
itslinear 9:d9e46f9c9e40 47 while(1) {
itslinear 9:d9e46f9c9e40 48
itslinear 18:3ee1b02ed3aa 49 //printf("%d\n", state);
itslinear 6:4af735d26b7a 50
itslinear 6:4af735d26b7a 51 switch(state) {
itslinear 6:4af735d26b7a 52
itslinear 12:b9faf8637183 53 case 0: // Roboter Anschalten mit Knopf
Shukle 16:0a1703438e8b 54 printf("0");
itslinear 6:4af735d26b7a 55
itslinear 19:adae367247d4 56 if (switchOnOff == 0) { // Bei Betätigung des Userbuttons wird das Programm gestartet
itslinear 12:b9faf8637183 57 state = 1;
itslinear 9:d9e46f9c9e40 58 }
itslinear 7:edb4e0cfc0d1 59
itslinear 9:d9e46f9c9e40 60 break;
itslinear 6:4af735d26b7a 61
itslinear 12:b9faf8637183 62 case 1:
itslinear 18:3ee1b02ed3aa 63 //printf("1");
itslinear 19:adae367247d4 64 camValue = readCamera(state);
itslinear 20:a90e5b54bf7b 65 state = roboter1.stateAuswahl(camValue, tempState, temp); // Case-Auswahl aufgrund von der Kamera
Shukle 16:0a1703438e8b 66 break;
itslinear 12:b9faf8637183 67
itslinear 9:d9e46f9c9e40 68 case 2:
itslinear 18:3ee1b02ed3aa 69 //printf("2");
itslinear 20:a90e5b54bf7b 70 tempState = 2;
itslinear 20:a90e5b54bf7b 71 temp = 0;
itslinear 18:3ee1b02ed3aa 72 state = roboter1.kreisFahren(); // Im Kreis fahren
itslinear 9:d9e46f9c9e40 73 break;
itslinear 6:4af735d26b7a 74
itslinear 3:24e098715b78 75
itslinear 9:d9e46f9c9e40 76 case 3:
itslinear 18:3ee1b02ed3aa 77 //printf("3");
itslinear 20:a90e5b54bf7b 78 tempState = 3;
itslinear 20:a90e5b54bf7b 79 temp = 0;
itslinear 19:adae367247d4 80 roboter1.ausweichen1(); // Hindernissen ausweichen
itslinear 18:3ee1b02ed3aa 81 state = roboter1.geradeFahren(); // Gerade Fahren
itslinear 9:d9e46f9c9e40 82 break;
itslinear 6:4af735d26b7a 83
itslinear 6:4af735d26b7a 84
itslinear 18:3ee1b02ed3aa 85 case 4:
itslinear 18:3ee1b02ed3aa 86 //printf("4");
itslinear 20:a90e5b54bf7b 87 tempState = 2;
itslinear 21:69ee872b8ee9 88 temp = 0;
itslinear 19:adae367247d4 89 roboter1.anfahren(camValue); // Roboter erkennt grünen Klotz, Klotz wird angefahren
itslinear 19:adae367247d4 90 state = roboter1.readSensors();
itslinear 9:d9e46f9c9e40 91 break;
itslinear 9:d9e46f9c9e40 92
itslinear 18:3ee1b02ed3aa 93 case 5:
itslinear 18:3ee1b02ed3aa 94 //printf("5");
itslinear 18:3ee1b02ed3aa 95 state = roboter1.pickup(); // Aufnehmen des Klotzes
itslinear 20:a90e5b54bf7b 96 temp = 5;
itslinear 9:d9e46f9c9e40 97 break;
itslinear 9:d9e46f9c9e40 98
itslinear 19:adae367247d4 99 case 6:
itslinear 19:adae367247d4 100 //printf("6");
itslinear 20:a90e5b54bf7b 101 temp =0;
itslinear 19:adae367247d4 102 state = roboter1.ausweichen2(); // Hindernissen ausweichen während Klotz angefahren wird
itslinear 20:a90e5b54bf7b 103 break;
itslinear 20:a90e5b54bf7b 104
itslinear 19:adae367247d4 105 case 7:
itslinear 20:a90e5b54bf7b 106 //printf("7");
itslinear 20:a90e5b54bf7b 107 temp = 0;
itslinear 20:a90e5b54bf7b 108 state = roboter1.back();
itslinear 20:a90e5b54bf7b 109 break;
itslinear 20:a90e5b54bf7b 110
itslinear 9:d9e46f9c9e40 111 default:
itslinear 9:d9e46f9c9e40 112 break;
itslinear 9:d9e46f9c9e40 113
itslinear 6:4af735d26b7a 114 }
itslinear 20:a90e5b54bf7b 115 //printf("%d\n", state);
itslinear 20:a90e5b54bf7b 116 wait(0.001f);
schneju2 5:f48b2609c328 117 }
itslinear 9:d9e46f9c9e40 118 }