Gruppe 3
xx
main.cpp@4:fdcf3b5009c6, 2017-04-11 (annotated)
- Committer:
- itslinear
- Date:
- Tue Apr 11 11:47:04 2017 +0000
- Revision:
- 4:fdcf3b5009c6
- Parent:
- 3:24e098715b78
- Child:
- 5:f48b2609c328
hallo
Who changed what in which revision?
| User | Revision | Line number | New 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 | 4:fdcf3b5009c6 | 18 | //Periphery for limit switch |
| itslinear | 4:fdcf3b5009c6 | 19 | DigitalIn limitSwitch1(PA_10); |
| itslinear | 4:fdcf3b5009c6 | 20 | DigitalIn limitSwitch2(PB_13); |
| schneju2 | 2:953263712480 | 21 | |
| itslinear | 0:306a2438de17 | 22 | //motor stuff |
| itslinear | 0:306a2438de17 | 23 | DigitalOut enableMotorDriver(PB_2); |
| itslinear | 3:24e098715b78 | 24 | PwmOut pwmL( PA_8 ); |
| itslinear | 3:24e098715b78 | 25 | PwmOut pwmR( PA_9 ); |
| itslinear | 0:306a2438de17 | 26 | |
| itslinear | 0:306a2438de17 | 27 | //indicator leds arround robot |
| itslinear | 0:306a2438de17 | 28 | DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 }; |
| itslinear | 0:306a2438de17 | 29 | |
| itslinear | 4:fdcf3b5009c6 | 30 | Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2, &limitSwitch1, &limitSwitch2); |
| itslinear | 0:306a2438de17 | 31 | |
| itslinear | 1:4e84271a70c6 | 32 | int main() |
| itslinear | 1:4e84271a70c6 | 33 | { |
| itslinear | 1:4e84271a70c6 | 34 | enable = 1; |
| itslinear | 1:4e84271a70c6 | 35 | enableMotorDriver = 1; |
| itslinear | 1:4e84271a70c6 | 36 | |
| itslinear | 4:fdcf3b5009c6 | 37 | /*roboter1.kamera(); //Kameraauswertung |
| itslinear | 3:24e098715b78 | 38 | |
| itslinear | 4:fdcf3b5009c6 | 39 | while(cam=1) { |
| itslinear | 4:fdcf3b5009c6 | 40 | roboter1.getBlock(); |
| itslinear | 4:fdcf3b5009c6 | 41 | wait(0.1f); |
| itslinear | 4:fdcf3b5009c6 | 42 | }*/ |
| itslinear | 3:24e098715b78 | 43 | |
| itslinear | 4:fdcf3b5009c6 | 44 | //while(cam==1 && camY>20) { //ausweichen aktive solange Y-Wert von Kamera grösser als 20 |
| itslinear | 4:fdcf3b5009c6 | 45 | roboter1.bandeAusweichen(); |
| itslinear | 4:fdcf3b5009c6 | 46 | wait(0.1f); |
| itslinear | 4:fdcf3b5009c6 | 47 | //} |
| itslinear | 3:24e098715b78 | 48 | |
| itslinear | 4:fdcf3b5009c6 | 49 | //while(cam==0) { //im Kreis drehen bis Kamera einen Klotz sieht |
| itslinear | 4:fdcf3b5009c6 | 50 | roboter1.findBlock(); |
| itslinear | 1:4e84271a70c6 | 51 | wait(0.1f); |
| itslinear | 4:fdcf3b5009c6 | 52 | //} |
| itslinear | 1:4e84271a70c6 | 53 | |
| itslinear | 1:4e84271a70c6 | 54 | } |
| schneju2 | 2:953263712480 | 55 |