Gruppe 3
/
PES4
xx
Fork of PES1 by
main.cpp@3:24e098715b78, 2017-04-04 (annotated)
- Committer:
- itslinear
- Date:
- Tue Apr 04 13:27:59 2017 +0000
- Revision:
- 3:24e098715b78
- Parent:
- 2:953263712480
- Child:
- 4:fdcf3b5009c6
hoi
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 |
schneju2 | 2:953263712480 | 15 | Servos servos1(PB_7); |
schneju2 | 2:953263712480 | 16 | Servos servos2(PA_6); |
schneju2 | 2:953263712480 | 17 | |
itslinear | 0:306a2438de17 | 18 | //motor stuff |
itslinear | 0:306a2438de17 | 19 | DigitalOut enableMotorDriver(PB_2); |
itslinear | 3:24e098715b78 | 20 | PwmOut pwmL( PA_8 ); |
itslinear | 3:24e098715b78 | 21 | PwmOut pwmR( PA_9 ); |
itslinear | 0:306a2438de17 | 22 | |
itslinear | 0:306a2438de17 | 23 | //indicator leds arround robot |
itslinear | 0:306a2438de17 | 24 | DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 }; |
itslinear | 0:306a2438de17 | 25 | |
schneju2 | 2:953263712480 | 26 | Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2); |
itslinear | 0:306a2438de17 | 27 | |
itslinear | 1:4e84271a70c6 | 28 | int main() |
itslinear | 1:4e84271a70c6 | 29 | { |
itslinear | 1:4e84271a70c6 | 30 | enable = 1; |
itslinear | 1:4e84271a70c6 | 31 | enableMotorDriver = 1; |
itslinear | 1:4e84271a70c6 | 32 | |
itslinear | 1:4e84271a70c6 | 33 | while(1) { |
itslinear | 1:4e84271a70c6 | 34 | |
itslinear | 3:24e098715b78 | 35 | roboter1.kamera(); //Kameraauswertung |
itslinear | 3:24e098715b78 | 36 | |
itslinear | 3:24e098715b78 | 37 | roboter1.getBlock |
itslinear | 3:24e098715b78 | 38 | |
itslinear | 3:24e098715b78 | 39 | while(camY>20) { //ausweichen aktive solange Y-Wert von Kamera grösser als 20 |
itslinear | 3:24e098715b78 | 40 | roboter1.bandeAusweichen(); |
itslinear | 3:24e098715b78 | 41 | } |
itslinear | 3:24e098715b78 | 42 | |
itslinear | 3:24e098715b78 | 43 | while(cam==0) { //im Kreis drehen bis Kamera einen Klotz sieht |
itslinear | 3:24e098715b78 | 44 | if( |
itslinear | 3:24e098715b78 | 45 | roboter1.turn(); |
itslinear | 3:24e098715b78 | 46 | } |
itslinear | 3:24e098715b78 | 47 | |
itslinear | 3:24e098715b78 | 48 | |
itslinear | 1:4e84271a70c6 | 49 | wait(0.1f); |
itslinear | 1:4e84271a70c6 | 50 | |
itslinear | 1:4e84271a70c6 | 51 | } |
itslinear | 1:4e84271a70c6 | 52 | } |
schneju2 | 2:953263712480 | 53 |