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Dependencies:   Servo mbed pixy

Fork of PES1 by Gruppe 3

main.cpp@5:f48b2609c328, 2017-04-11 (annotated)

Committer:
schneju2
Date:
Tue Apr 11 14:43:29 2017 +0000
Revision:
5:f48b2609c328
Parent:
4:fdcf3b5009c6
Child:
6:4af735d26b7a
Main

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 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
schneju2 5:f48b2609c328 22 //Periphery for Swich ON/OFF
schneju2 5:f48b2609c328 23
schneju2 5:f48b2609c328 24 DigitalIn swichOnOFF (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 {
schneju2 5:f48b2609c328 38 enable = 1; // Sensoren einschalten
schneju2 5:f48b2609c328 39 enableMotorDriver = 1; // Schaltet die Motoren ein
schneju2 5:f48b2609c328 40 pwmL->period(0.00005f); // Setzt die Periode auf 50 μs
schneju2 5:f48b2609c328 41 pwmR->period(0.00005f);
schneju2 5:f48b2609c328 42
schneju2 5:f48b2609c328 43 int state = 0; // Diese Variable gibt an in welchem State man sich befindet
itslinear 3:24e098715b78 44
schneju2 5:f48b2609c328 45 if ( kamera() == 1){ state = 4;) // Die Kamera erkennt ein grünen Klotz
schneju2 5:f48b2609c328 46 while(1) {
itslinear 3:24e098715b78 47
schneju2 5:f48b2609c328 48 swich(state){
schneju2 5:f48b2609c328 49
schneju2 5:f48b2609c328 50 case 1: // Roboter Anschalten mit Knopf
schneju2 5:f48b2609c328 51
schneju2 5:f48b2609c328 52 if (swichOnOff == 1){
schneju2 5:f48b2609c328 53 state = 2;}
schneju2 5:f48b2609c328 54 if (swichOnOff ==0){
schneju2 5:f48b2609c328 55 state =1;)
schneju2 5:f48b2609c328 56
schneju2 5:f48b2609c328 57 break;
schneju2 5:f48b2609c328 58
schneju2 5:f48b2609c328 59 case 2: // Im Kreis drehen
schneju2 5:f48b2609c328 60
schneju2 5:f48b2609c328 61 ....
schneju2 5:f48b2609c328 62 break;
schneju2 5:f48b2609c328 63
schneju2 5:f48b2609c328 64 case 3: // gerade aus fahren
schneju2 5:f48b2609c328 65
schneju2 5:f48b2609c328 66 ....
schneju2 5:f48b2609c328 67 break;
schneju2 5:f48b2609c328 68
schneju2 5:f48b2609c328 69 case 4: // Roboter erkennt gründer Klotz, Klotz wird angefahren
schneju2 5:f48b2609c328 70
schneju2 5:f48b2609c328 71 ...
schneju2 5:f48b2609c328 72 break;
schneju2 5:f48b2609c328 73
schneju2 5:f48b2609c328 74 case 5: // Aufnehmen des Klotzes
schneju2 5:f48b2609c328 75
schneju2 5:f48b2609c328 76
schneju2 5:f48b2609c328 77 .....
schneju2 5:f48b2609c328 78 break;
schneju2 5:f48b2609c328 79
schneju2 5:f48b2609c328 80
schneju2 5:f48b2609c328 81 default
schneju2 5:f48b2609c328 82
schneju2 5:f48b2609c328 83 ... break ; }
itslinear 3:24e098715b78 84
itslinear 1:4e84271a70c6 85 wait(0.1f);
schneju2 5:f48b2609c328 86
schneju2 5:f48b2609c328 87 }
itslinear 1:4e84271a70c6 88
itslinear 1:4e84271a70c6 89 }
schneju2 2:953263712480 90