Revision 3:1708f20fd55b, committed 2016-04-18

Comitter:

DongExpander

Date:

Mon Apr 18 12:48:42 2016 +0000

Parent:

2:4a9ed5ca8a9a

Commit message:

Feature; Added initialize()

Changed in this revision

diff -r 4a9ed5ca8a9a -r 1708f20fd55b functions_bertl.cpp
--- a/functions_bertl.cpp	Mon Apr 18 12:30:42 2016 +0000
+++ b/functions_bertl.cpp	Mon Apr 18 12:48:42 2016 +0000
@@ -1,41 +1,52 @@
-#include "mbed.h"
-#include "class_hardware.h"
-#include "class_software.h"
-#include "functions_bertl.h"
-
-void line_turn(unsigned char linesegment, int speed, Motor left, Motor right) {
-	
-	if ( speed < 30 )
-		speed = 30;
-	
-	switch (linesegment) {
-		case 0b00000: left.set(speed * 0.80); right.set(speed * -0.80); break;
-		case 0b00100: left.set(speed * 1.50); right.set(speed * 1.50); break;
-		
-		// Nach links
-		case 0b01100: left.set(speed * 0.65); right.set(speed * 1.00); break;
-		case 0b01000: left.set(speed * 0.35); right.set(speed * 0.80); break;
-		case 0b11000: left.set(speed * 0.30); right.set(speed * 0.90); break;
-		case 0b10000: left.set(speed * -0.40); right.set(speed * 0.40); break;
-		
-		// Nach rechts
-		case 0b00110: left.set(speed * 1.00); right.set(speed * 0.65); break;
-		case 0b00010: left.set(speed * 0.80); right.set(speed * 0.35); break;
-		case 0b00011: left.set(speed * 0.90); right.set(speed * 0.30); break;
-		case 0b00001: left.set(speed * 0.40); right.set(speed * -0.40); break;
-	}
-}
-
-
-unsigned char sensor_to_byte(IRSensor LL, IRSensor L, IRSensor M, IRSensor R, IRSensor RR) {
-    unsigned char sensor_byte = 0b00000;
-    
-    if (LL.is_black()) sensor_byte += 0b10000;
-    if (L.is_black())  sensor_byte += 0b01000;
-    if (M.is_black())  sensor_byte += 0b00100;
-    if (R.is_black())  sensor_byte += 0b00010;
-    if (RR.is_black()) sensor_byte += 0b00001;
-    
-    return sensor_byte;
-}
+#include "mbed.h"
+#include "class_hardware.h"
+#include "class_software.h"
+#include "hl_bertl_portex.h"
+#include "functions_bertl.h"
 
+void line_turn(unsigned char linesegment, int speed, Motor left, Motor right) {
+	
+	if ( speed < 30 )
+		speed = 30;
+	
+	switch (linesegment) {
+		case 0b00000: left.set(speed * 0.80); right.set(speed * -0.80); break;
+		case 0b00100: left.set(speed * 1.50); right.set(speed * 1.50); break;
+		
+		// Nach links
+		case 0b01100: left.set(speed * 0.65); right.set(speed * 1.00); break;
+		case 0b01000: left.set(speed * 0.35); right.set(speed * 0.80); break;
+		case 0b11000: left.set(speed * 0.30); right.set(speed * 0.90); break;
+		case 0b10000: left.set(speed * -0.40); right.set(speed * 0.40); break;
+		
+		// Nach rechts
+		case 0b00110: left.set(speed * 1.00); right.set(speed * 0.65); break;
+		case 0b00010: left.set(speed * 0.80); right.set(speed * 0.35); break;
+		case 0b00011: left.set(speed * 0.90); right.set(speed * 0.30); break;
+		case 0b00001: left.set(speed * 0.40); right.set(speed * -0.40); break;
+	}
+}
+
+
+unsigned char sensor_to_byte(IRSensor LL, IRSensor L, IRSensor M, IRSensor R, IRSensor RR) {
+    unsigned char sensor_byte = 0b00000;
+    
+    if (LL.is_black()) sensor_byte += 0b10000;
+    if (L.is_black())  sensor_byte += 0b01000;
+    if (M.is_black())  sensor_byte += 0b00100;
+    if (R.is_black())  sensor_byte += 0b00010;
+    if (RR.is_black()) sensor_byte += 0b00001;
+    
+    return sensor_byte;
+}
+
+void initialize(PinName power_motor, PinName power_ir, PortEx portex) {
+	BusOut power (power_motor, power_ir);
+	power = 0xff;
+	BusOut leds(LED1,LED2,LED3,LED4);
+	leds = 0x00;
+	
+	portex.useISR=0;
+	portex.ClearLeds();
+	portex.WaitUntilButtonPressed();
+}
\ No newline at end of file

diff -r 4a9ed5ca8a9a -r 1708f20fd55b functions_bertl.h
--- a/functions_bertl.h	Mon Apr 18 12:30:42 2016 +0000
+++ b/functions_bertl.h	Mon Apr 18 12:48:42 2016 +0000
@@ -5,5 +5,7 @@
 
 unsigned char sensor_to_byte(IRSensor LL, IRSensor L, IRSensor M, IRSensor R, IRSensor RR);
 
+void initialize(PinName power_motor, PinName power_ir, PortEx portex);
+
 #endif