File content as of revision 0:306a2438de17:

#include "Roboter.h"



//timer object for ledshow and distance sensor
Ticker t1;

//lights up the led according to the sensor signal
void ledDistance()
{
    for( int ii = 0; ii<6; ++ii)
        sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0;
}

//blinks at startup and starts ledDistance task
void ledShow()
{
    static int timer = 0;
    for( int ii = 0; ii<6; ++ii)
        leds[ii] = !leds[ii];

    //quit ticker and start led distance show
    if( ++timer > 10) {
        t1.detach();
        t1.attach( &ledDistance, 0.01f );
    }
}

int IRSensor()
{
    pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
    pwmR.period(0.00005f);

    pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
    pwmR = 0.5f;
    enableMotorDriver = 0;

    t1.attach( &ledShow, 0.05f );

    //init distance sensors
    for( int ii = 0; ii<6; ++ii)
        sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);

    enable = 1;

    while(1) {
        wait( 0.2f );
    }
}