Lab 4CHEL / bertl_libraries

Collections of BERTL libraries

functions_bertl.cpp@2:4a9ed5ca8a9a, 2016-04-18 (annotated)

Committer:
DongExpander
Date:
Mon Apr 18 12:30:42 2016 +0000
Revision:
2:4a9ed5ca8a9a
Child:
3:1708f20fd55b
Feature; Added functions_bertl and class_software

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DongExpander 2:4a9ed5ca8a9a 1 #include "mbed.h"
DongExpander 2:4a9ed5ca8a9a 2 #include "class_hardware.h"
DongExpander 2:4a9ed5ca8a9a 3 #include "class_software.h"
DongExpander 2:4a9ed5ca8a9a 4 #include "functions_bertl.h"
DongExpander 2:4a9ed5ca8a9a 5
DongExpander 2:4a9ed5ca8a9a 6 void line_turn(unsigned char linesegment, int speed, Motor left, Motor right) {
DongExpander 2:4a9ed5ca8a9a 7
DongExpander 2:4a9ed5ca8a9a 8 if ( speed < 30 )
DongExpander 2:4a9ed5ca8a9a 9 speed = 30;
DongExpander 2:4a9ed5ca8a9a 10
DongExpander 2:4a9ed5ca8a9a 11 switch (linesegment) {
DongExpander 2:4a9ed5ca8a9a 12 case 0b00000: left.set(speed * 0.80); right.set(speed * -0.80); break;
DongExpander 2:4a9ed5ca8a9a 13 case 0b00100: left.set(speed * 1.50); right.set(speed * 1.50); break;
DongExpander 2:4a9ed5ca8a9a 14
DongExpander 2:4a9ed5ca8a9a 15 // Nach links
DongExpander 2:4a9ed5ca8a9a 16 case 0b01100: left.set(speed * 0.65); right.set(speed * 1.00); break;
DongExpander 2:4a9ed5ca8a9a 17 case 0b01000: left.set(speed * 0.35); right.set(speed * 0.80); break;
DongExpander 2:4a9ed5ca8a9a 18 case 0b11000: left.set(speed * 0.30); right.set(speed * 0.90); break;
DongExpander 2:4a9ed5ca8a9a 19 case 0b10000: left.set(speed * -0.40); right.set(speed * 0.40); break;
DongExpander 2:4a9ed5ca8a9a 20
DongExpander 2:4a9ed5ca8a9a 21 // Nach rechts
DongExpander 2:4a9ed5ca8a9a 22 case 0b00110: left.set(speed * 1.00); right.set(speed * 0.65); break;
DongExpander 2:4a9ed5ca8a9a 23 case 0b00010: left.set(speed * 0.80); right.set(speed * 0.35); break;
DongExpander 2:4a9ed5ca8a9a 24 case 0b00011: left.set(speed * 0.90); right.set(speed * 0.30); break;
DongExpander 2:4a9ed5ca8a9a 25 case 0b00001: left.set(speed * 0.40); right.set(speed * -0.40); break;
DongExpander 2:4a9ed5ca8a9a 26 }
DongExpander 2:4a9ed5ca8a9a 27 }
DongExpander 2:4a9ed5ca8a9a 28
DongExpander 2:4a9ed5ca8a9a 29
DongExpander 2:4a9ed5ca8a9a 30 unsigned char sensor_to_byte(IRSensor LL, IRSensor L, IRSensor M, IRSensor R, IRSensor RR) {
DongExpander 2:4a9ed5ca8a9a 31 unsigned char sensor_byte = 0b00000;
DongExpander 2:4a9ed5ca8a9a 32
DongExpander 2:4a9ed5ca8a9a 33 if (LL.is_black()) sensor_byte += 0b10000;
DongExpander 2:4a9ed5ca8a9a 34 if (L.is_black()) sensor_byte += 0b01000;
DongExpander 2:4a9ed5ca8a9a 35 if (M.is_black()) sensor_byte += 0b00100;
DongExpander 2:4a9ed5ca8a9a 36 if (R.is_black()) sensor_byte += 0b00010;
DongExpander 2:4a9ed5ca8a9a 37 if (RR.is_black()) sensor_byte += 0b00001;
DongExpander 2:4a9ed5ca8a9a 38
DongExpander 2:4a9ed5ca8a9a 39 return sensor_byte;
DongExpander 2:4a9ed5ca8a9a 40 }
DongExpander 2:4a9ed5ca8a9a 41