Gruppe 3
/
PES4
xx
Fork of PES1 by
main.cpp@17:caf5ae550f2e, 2017-04-25 (annotated)
- Committer:
- Shukle
- Date:
- Tue Apr 25 12:26:04 2017 +0000
- Revision:
- 17:caf5ae550f2e
- Parent:
- 16:0a1703438e8b
- Child:
- 18:6547e54ac803
endschalter entfernt;
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 | 6:4af735d26b7a | 18 | //Periphery for Switch ON/OFF |
schneju2 | 5:f48b2609c328 | 19 | |
itslinear | 7:edb4e0cfc0d1 | 20 | DigitalIn switchOnOff(USER_BUTTON); |
schneju2 | 5:f48b2609c328 | 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 | |
Shukle | 17:caf5ae550f2e | 30 | Roboter roboter1(&distance, &bit0, &bit1, &bit2, &pwmL, &pwmR, &servos1,&servos2); |
itslinear | 0:306a2438de17 | 31 | |
itslinear | 1:4e84271a70c6 | 32 | int main() |
itslinear | 1:4e84271a70c6 | 33 | { |
itslinear | 6:4af735d26b7a | 34 | enable = 1; // Sensoren einschalten |
itslinear | 6:4af735d26b7a | 35 | enableMotorDriver = 1; // Schaltet die Motoren ein |
itslinear | 7:edb4e0cfc0d1 | 36 | pwmL.period(0.00005f); // Setzt die Periode auf 50 μs |
itslinear | 7:edb4e0cfc0d1 | 37 | pwmR.period(0.00005f); |
schneju2 | 8:6d9cd5ad332d | 38 | pwmL = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 39 | pwmR = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 40 | |
itslinear | 6:4af735d26b7a | 41 | |
itslinear | 12:b9faf8637183 | 42 | int state = 0; // Diese Variable gibt an in welchem State man sich befindet |
itslinear | 13:7eba9911e196 | 43 | int tempState = 2; |
Shukle | 16:0a1703438e8b | 44 | int time1 = 0; |
Shukle | 16:0a1703438e8b | 45 | int time2 = 0; |
itslinear | 9:d9e46f9c9e40 | 46 | |
itslinear | 9:d9e46f9c9e40 | 47 | while(1) { |
itslinear | 9:d9e46f9c9e40 | 48 | |
itslinear | 14:7e330f65f26e | 49 | int camValue = readCamera(); |
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 | 12:b9faf8637183 | 56 | if (switchOnOff == 0) { |
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: |
Shukle | 16:0a1703438e8b | 63 | printf("1"); |
itslinear | 14:7e330f65f26e | 64 | if(camValue == 1 || camValue == 2 || camValue == 3) { // Die Kamera erkennt ein grünen Klotz |
itslinear | 12:b9faf8637183 | 65 | state = 4; |
itslinear | 12:b9faf8637183 | 66 | } |
itslinear | 14:7e330f65f26e | 67 | if(camValue == 4) { // Roboter in Position |
itslinear | 12:b9faf8637183 | 68 | state = 5; |
itslinear | 12:b9faf8637183 | 69 | } |
itslinear | 14:7e330f65f26e | 70 | if(camValue == 0){ |
itslinear | 13:7eba9911e196 | 71 | state = tempState; |
Shukle | 16:0a1703438e8b | 72 | } |
Shukle | 16:0a1703438e8b | 73 | break; |
itslinear | 12:b9faf8637183 | 74 | |
itslinear | 9:d9e46f9c9e40 | 75 | case 2: |
Shukle | 16:0a1703438e8b | 76 | printf("2"); |
itslinear | 9:d9e46f9c9e40 | 77 | if(time1 < 20) { // Im Kreis drehen für 1s |
itslinear | 9:d9e46f9c9e40 | 78 | pwmL = 0.4f; |
itslinear | 9:d9e46f9c9e40 | 79 | pwmR = 0.4f; |
itslinear | 9:d9e46f9c9e40 | 80 | time1 ++; |
itslinear | 12:b9faf8637183 | 81 | state = 1; |
itslinear | 13:7eba9911e196 | 82 | tempState = 2; |
itslinear | 9:d9e46f9c9e40 | 83 | } else { |
itslinear | 9:d9e46f9c9e40 | 84 | time1 = 0; |
itslinear | 9:d9e46f9c9e40 | 85 | pwmL = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 86 | pwmR = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 87 | state = 3; |
itslinear | 9:d9e46f9c9e40 | 88 | } |
itslinear | 9:d9e46f9c9e40 | 89 | break; |
itslinear | 6:4af735d26b7a | 90 | |
itslinear | 3:24e098715b78 | 91 | |
itslinear | 9:d9e46f9c9e40 | 92 | case 3: |
Shukle | 16:0a1703438e8b | 93 | printf("3"); |
itslinear | 9:d9e46f9c9e40 | 94 | roboter1.bandeAusweichen(); |
itslinear | 9:d9e46f9c9e40 | 95 | if(time2 < 40) { // gerade aus fahren |
itslinear | 9:d9e46f9c9e40 | 96 | pwmL = 0.6f; |
itslinear | 9:d9e46f9c9e40 | 97 | pwmR = 0.4f; |
itslinear | 9:d9e46f9c9e40 | 98 | time2 ++; |
itslinear | 12:b9faf8637183 | 99 | state = 1; |
itslinear | 13:7eba9911e196 | 100 | tempState = 3; |
itslinear | 9:d9e46f9c9e40 | 101 | } else { |
itslinear | 9:d9e46f9c9e40 | 102 | time2 = 0; |
itslinear | 9:d9e46f9c9e40 | 103 | pwmL = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 104 | pwmR = 0.5f; |
itslinear | 9:d9e46f9c9e40 | 105 | state = 2; |
itslinear | 9:d9e46f9c9e40 | 106 | } |
itslinear | 9:d9e46f9c9e40 | 107 | break; |
itslinear | 6:4af735d26b7a | 108 | |
itslinear | 6:4af735d26b7a | 109 | |
itslinear | 9:d9e46f9c9e40 | 110 | case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren |
Shukle | 16:0a1703438e8b | 111 | printf("4"); |
itslinear | 9:d9e46f9c9e40 | 112 | roboter1.bandeAusweichen(); |
itslinear | 14:7e330f65f26e | 113 | if(camValue == 1) { // links fahren |
itslinear | 9:d9e46f9c9e40 | 114 | pwmL = 0.45f; |
itslinear | 9:d9e46f9c9e40 | 115 | pwmR = 0.45f; |
itslinear | 9:d9e46f9c9e40 | 116 | } |
itslinear | 14:7e330f65f26e | 117 | if(camValue == 2) { // rechts fahren |
itslinear | 9:d9e46f9c9e40 | 118 | pwmL = 0.55f; |
itslinear | 9:d9e46f9c9e40 | 119 | pwmR = 0.55f; |
itslinear | 9:d9e46f9c9e40 | 120 | } |
itslinear | 14:7e330f65f26e | 121 | if(camValue == 3) { // gerade fahren |
itslinear | 9:d9e46f9c9e40 | 122 | pwmL = 0.55f; |
itslinear | 9:d9e46f9c9e40 | 123 | pwmR = 0.45f; |
itslinear | 9:d9e46f9c9e40 | 124 | } |
itslinear | 13:7eba9911e196 | 125 | state = 1; |
itslinear | 6:4af735d26b7a | 126 | |
itslinear | 9:d9e46f9c9e40 | 127 | break; |
itslinear | 9:d9e46f9c9e40 | 128 | |
itslinear | 9:d9e46f9c9e40 | 129 | case 5: // Aufnehmen des Klotzes |
Shukle | 16:0a1703438e8b | 130 | printf("5"); |
itslinear | 12:b9faf8637183 | 131 | pwmL = 0.5f; |
itslinear | 12:b9faf8637183 | 132 | pwmR = 0.5f; |
itslinear | 13:7eba9911e196 | 133 | state = 1; |
Shukle | 16:0a1703438e8b | 134 | time1 = 0; |
Shukle | 16:0a1703438e8b | 135 | time2 = 0; |
itslinear | 6:4af735d26b7a | 136 | |
itslinear | 9:d9e46f9c9e40 | 137 | break; |
itslinear | 9:d9e46f9c9e40 | 138 | |
itslinear | 6:4af735d26b7a | 139 | |
itslinear | 9:d9e46f9c9e40 | 140 | default: |
itslinear | 9:d9e46f9c9e40 | 141 | break; |
itslinear | 9:d9e46f9c9e40 | 142 | |
itslinear | 6:4af735d26b7a | 143 | |
itslinear | 6:4af735d26b7a | 144 | } |
Shukle | 16:0a1703438e8b | 145 | |
Shukle | 16:0a1703438e8b | 146 | //wait(0.1f); |
schneju2 | 5:f48b2609c328 | 147 | } |
itslinear | 1:4e84271a70c6 | 148 | |
itslinear | 9:d9e46f9c9e40 | 149 | } |
itslinear | 9:d9e46f9c9e40 | 150 |