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Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

main.cpp@8:6d9cd5ad332d, 2017-04-18 (annotated)

Committer:
schneju2
Date:
Tue Apr 18 12:09:46 2017 +0000
Revision:
8:6d9cd5ad332d
Parent:
7:edb4e0cfc0d1
Child:
9:d9e46f9c9e40
neu

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;
schneju2 8:6d9cd5ad332d 43 pwmR = 0.5f;
schneju2 8:6d9cd5ad332d 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 7:edb4e0cfc0d1 48 /*if ( kamera() == 1) {
itslinear 6:4af735d26b7a 49 state = 4;
itslinear 7:edb4e0cfc0d1 50 } // Die Kamera erkennt ein grünen Klotz*/
itslinear 6:4af735d26b7a 51 while(1) {
itslinear 6:4af735d26b7a 52
itslinear 6:4af735d26b7a 53 switch(state) {
itslinear 6:4af735d26b7a 54
itslinear 6:4af735d26b7a 55 case 1: // Roboter Anschalten mit Knopf
itslinear 6:4af735d26b7a 56
schneju2 8:6d9cd5ad332d 57 if (switchOnOff== 0){
schneju2 8:6d9cd5ad332d 58 state = 5;
itslinear 6:4af735d26b7a 59 }
itslinear 7:edb4e0cfc0d1 60
itslinear 6:4af735d26b7a 61 break;
itslinear 6:4af735d26b7a 62
itslinear 6:4af735d26b7a 63 case 2:
itslinear 6:4af735d26b7a 64 roboter1.bandeAusweichen();
itslinear 6:4af735d26b7a 65 static int time1 = 0;
itslinear 6:4af735d26b7a 66 if(time1 < 10) { // Im Kreis drehen für 1s
itslinear 6:4af735d26b7a 67 pwmL = 0.4f;
itslinear 6:4af735d26b7a 68 pwmR = 0.4f;
itslinear 6:4af735d26b7a 69 time1 ++;
itslinear 6:4af735d26b7a 70 } else {
itslinear 6:4af735d26b7a 71 time1 = 0;
itslinear 6:4af735d26b7a 72 pwmL = 0.5f;
itslinear 6:4af735d26b7a 73 pwmR = 0.5f;
itslinear 6:4af735d26b7a 74 state = 3;
itslinear 6:4af735d26b7a 75 }
itslinear 6:4af735d26b7a 76 break;
itslinear 6:4af735d26b7a 77
itslinear 3:24e098715b78 78
itslinear 6:4af735d26b7a 79 case 3:
itslinear 6:4af735d26b7a 80 roboter1.bandeAusweichen();
itslinear 6:4af735d26b7a 81 static int time2 = 0;
itslinear 6:4af735d26b7a 82 if(time2 < 10) { // gerade aus fahren
itslinear 6:4af735d26b7a 83 pwmL = 0.6f;
itslinear 6:4af735d26b7a 84 pwmR = 0.4f;
itslinear 6:4af735d26b7a 85 time2 ++;
itslinear 6:4af735d26b7a 86 } else {
itslinear 6:4af735d26b7a 87 time2 = 0;
itslinear 6:4af735d26b7a 88 pwmL = 0.5f;
itslinear 6:4af735d26b7a 89 pwmR = 0.5f;
itslinear 6:4af735d26b7a 90 state = 2;
itslinear 6:4af735d26b7a 91 }
itslinear 6:4af735d26b7a 92 break;
itslinear 6:4af735d26b7a 93
itslinear 6:4af735d26b7a 94
itslinear 6:4af735d26b7a 95 case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
itslinear 3:24e098715b78 96
itslinear 7:edb4e0cfc0d1 97
itslinear 6:4af735d26b7a 98 break;
itslinear 6:4af735d26b7a 99
itslinear 6:4af735d26b7a 100 case 5: // Aufnehmen des Klotzes
itslinear 6:4af735d26b7a 101
schneju2 8:6d9cd5ad332d 102 roboter1.bandeAusweichen();
itslinear 7:edb4e0cfc0d1 103
itslinear 6:4af735d26b7a 104 break;
schneju2 8:6d9cd5ad332d 105
schneju2 8:6d9cd5ad332d 106
schneju2 8:6d9cd5ad332d 107 default: break;
itslinear 6:4af735d26b7a 108
itslinear 7:edb4e0cfc0d1 109
itslinear 6:4af735d26b7a 110 }
itslinear 6:4af735d26b7a 111
itslinear 6:4af735d26b7a 112 wait(0.1f);
itslinear 6:4af735d26b7a 113
itslinear 6:4af735d26b7a 114 }
schneju2 5:f48b2609c328 115
schneju2 5:f48b2609c328 116 }
itslinear 1:4e84271a70c6 117