Lab 4CHEL / Mbed 2 deprecated Bertel_FollowLine

1 Sensor

Dependencies:   BertlLib mbed

Fork of BertlTemplate2 by michael hollegha

Bertel_FollowLine.cpp@2:bc32145e7819, 2016-03-07 (annotated)

Committer:
TFuchsbichler
Date:
Mon Mar 07 08:47:32 2016 +0000
Revision:
2:bc32145e7819
Child:
3:d0894bb57690
Followline mit 1 Sensor;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TFuchsbichler 2:bc32145e7819 1
TFuchsbichler 2:bc32145e7819 2 #include "mbed.h"
TFuchsbichler 2:bc32145e7819 3 #include "Serial_HL.h"
TFuchsbichler 2:bc32145e7819 4 #include "Bertl14.h"
TFuchsbichler 2:bc32145e7819 5 #include "BertlObjects.h"
TFuchsbichler 2:bc32145e7819 6
TFuchsbichler 2:bc32145e7819 7
TFuchsbichler 2:bc32145e7819 8 void FollowLine();
TFuchsbichler 2:bc32145e7819 9 void FindLine();
TFuchsbichler 2:bc32145e7819 10 void rightturn();
TFuchsbichler 2:bc32145e7819 11 void leftturn();
TFuchsbichler 2:bc32145e7819 12 void stop();
TFuchsbichler 2:bc32145e7819 13 void lefthard();
TFuchsbichler 2:bc32145e7819 14 void righthard();
TFuchsbichler 2:bc32145e7819 15
TFuchsbichler 2:bc32145e7819 16 int leftright;
TFuchsbichler 2:bc32145e7819 17 BusOut boardPow(p30, P1_6,P1_7);
TFuchsbichler 2:bc32145e7819 18 AnalogInHL ls1(p18), ls2(p16), ls3(p20), ls4(p19),ls5(p17);
TFuchsbichler 2:bc32145e7819 19
TFuchsbichler 2:bc32145e7819 20
TFuchsbichler 2:bc32145e7819 21 Timer t;
TFuchsbichler 2:bc32145e7819 22
TFuchsbichler 2:bc32145e7819 23 int main(void)
TFuchsbichler 2:bc32145e7819 24 {
TFuchsbichler 2:bc32145e7819 25 boardPow=3;
TFuchsbichler 2:bc32145e7819 26 InitBertl();
TFuchsbichler 2:bc32145e7819 27 pex.ClearLeds();
TFuchsbichler 2:bc32145e7819 28 // Damit der Roboter nicht gleich loskoffert
TFuchsbichler 2:bc32145e7819 29 leds = 9;
TFuchsbichler 2:bc32145e7819 30 pex.WaitUntilFrontButtonPressed();
TFuchsbichler 2:bc32145e7819 31 leds=6;
TFuchsbichler 2:bc32145e7819 32 wait(0.8);
TFuchsbichler 2:bc32145e7819 33 leds=0;
TFuchsbichler 2:bc32145e7819 34 // 2x Button-pressed jetzt gehts los
TFuchsbichler 2:bc32145e7819 35
TFuchsbichler 2:bc32145e7819 36 while(1) {
TFuchsbichler 2:bc32145e7819 37 wait(1);
TFuchsbichler 2:bc32145e7819 38 FollowLine();
TFuchsbichler 2:bc32145e7819 39
TFuchsbichler 2:bc32145e7819 40 }
TFuchsbichler 2:bc32145e7819 41 }
TFuchsbichler 2:bc32145e7819 42
TFuchsbichler 2:bc32145e7819 43
TFuchsbichler 2:bc32145e7819 44
TFuchsbichler 2:bc32145e7819 45
TFuchsbichler 2:bc32145e7819 46
TFuchsbichler 2:bc32145e7819 47 void FollowLine()
TFuchsbichler 2:bc32145e7819 48 {
TFuchsbichler 2:bc32145e7819 49
TFuchsbichler 2:bc32145e7819 50
TFuchsbichler 2:bc32145e7819 51 while(1) {
TFuchsbichler 2:bc32145e7819 52 if(ls2.Read()>600) {
TFuchsbichler 2:bc32145e7819 53 t.reset();
TFuchsbichler 2:bc32145e7819 54 leftturn();
TFuchsbichler 2:bc32145e7819 55 leftright=1;
TFuchsbichler 2:bc32145e7819 56
TFuchsbichler 2:bc32145e7819 57 }
TFuchsbichler 2:bc32145e7819 58
TFuchsbichler 2:bc32145e7819 59 if(ls2.Read()<600) {
TFuchsbichler 2:bc32145e7819 60 rightturn();
TFuchsbichler 2:bc32145e7819 61 leftright=0;
TFuchsbichler 2:bc32145e7819 62 }
TFuchsbichler 2:bc32145e7819 63
TFuchsbichler 2:bc32145e7819 64
TFuchsbichler 2:bc32145e7819 65 }
TFuchsbichler 2:bc32145e7819 66 t.reset();
TFuchsbichler 2:bc32145e7819 67 t.stop();
TFuchsbichler 2:bc32145e7819 68 mL.SetPow(0);
TFuchsbichler 2:bc32145e7819 69 mR.SetPow(0);
TFuchsbichler 2:bc32145e7819 70
TFuchsbichler 2:bc32145e7819 71 }
TFuchsbichler 2:bc32145e7819 72
TFuchsbichler 2:bc32145e7819 73 void rightturn()
TFuchsbichler 2:bc32145e7819 74 {
TFuchsbichler 2:bc32145e7819 75 mL.SetPow(0.2);
TFuchsbichler 2:bc32145e7819 76 mR.SetPow(0.1);
TFuchsbichler 2:bc32145e7819 77
TFuchsbichler 2:bc32145e7819 78 }
TFuchsbichler 2:bc32145e7819 79 void leftturn()
TFuchsbichler 2:bc32145e7819 80 {
TFuchsbichler 2:bc32145e7819 81 mL.SetPow(0.1);
TFuchsbichler 2:bc32145e7819 82 mR.SetPow(0.2);
TFuchsbichler 2:bc32145e7819 83 }
TFuchsbichler 2:bc32145e7819 84
TFuchsbichler 2:bc32145e7819 85 void stop()
TFuchsbichler 2:bc32145e7819 86 {
TFuchsbichler 2:bc32145e7819 87 mL.SetPow(0);
TFuchsbichler 2:bc32145e7819 88 mR.SetPow(0);
TFuchsbichler 2:bc32145e7819 89 }
TFuchsbichler 2:bc32145e7819 90
TFuchsbichler 2:bc32145e7819 91 void righthard()
TFuchsbichler 2:bc32145e7819 92 {
TFuchsbichler 2:bc32145e7819 93 mL.SetPow(-0.4);
TFuchsbichler 2:bc32145e7819 94 mR.SetPow(0.4);
TFuchsbichler 2:bc32145e7819 95 }
TFuchsbichler 2:bc32145e7819 96
TFuchsbichler 2:bc32145e7819 97 void lefthard()
TFuchsbichler 2:bc32145e7819 98 {
TFuchsbichler 2:bc32145e7819 99 mL.SetPow(-0.4);
TFuchsbichler 2:bc32145e7819 100 mR.SetPow(0.4);
TFuchsbichler 2:bc32145e7819 101 }
TFuchsbichler 2:bc32145e7819 102
TFuchsbichler 2:bc32145e7819 103 void FindLine()
TFuchsbichler 2:bc32145e7819 104 {
TFuchsbichler 2:bc32145e7819 105
TFuchsbichler 2:bc32145e7819 106 while(1) {
TFuchsbichler 2:bc32145e7819 107
TFuchsbichler 2:bc32145e7819 108 if(leftright==1) {
TFuchsbichler 2:bc32145e7819 109 righthard();
TFuchsbichler 2:bc32145e7819 110 }
TFuchsbichler 2:bc32145e7819 111 if(leftright==0) {
TFuchsbichler 2:bc32145e7819 112 lefthard();
TFuchsbichler 2:bc32145e7819 113 }
TFuchsbichler 2:bc32145e7819 114 if(ls2.Read()>500|ls3.Read()>500) {
TFuchsbichler 2:bc32145e7819 115 stop();
TFuchsbichler 2:bc32145e7819 116 break;
TFuchsbichler 2:bc32145e7819 117 }
TFuchsbichler 2:bc32145e7819 118 }
TFuchsbichler 2:bc32145e7819 119
TFuchsbichler 2:bc32145e7819 120 }
TFuchsbichler 2:bc32145e7819 121
TFuchsbichler 2:bc32145e7819 122
TFuchsbichler 2:bc32145e7819 123
TFuchsbichler 2:bc32145e7819 124
TFuchsbichler 2:bc32145e7819 125