Mumi_Corvin / Mbed 2 deprecated Lionel_Roby3_2-0

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 6:28a577aa9938, committed 2018-11-26

Comitter:
CJS
Date:
Mon Nov 26 13:49:14 2018 +0000
Parent:
5:54ac96f4324b
Child:
7:eb51c7ed828a
Commit message:
-fahre_eine_acht(); -Funktion drehen()

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Sun Nov 25 18:13:34 2018 +0000
+++ b/main.cpp	Mon Nov 26 13:49:14 2018 +0000
@@ -23,6 +23,25 @@
     //pc.printf("Um %d Grad gedreht",winkel);
     return 1;
 }
+int fahren(int speed, int direction, int time){
+    Motor_A.pulsewidth_us(speed);
+    Motor_B.pulsewidth_us(speed);
+    Direction_A=direction;
+    Direction_B=direction;
+    wait(time);
+int fahre_eine_acht(){
+    for (int i=0;i<3;i++){
+        fahren(6000,0,1);
+        drehen(90);
+    }
+    fahren(6000,0,1);
+    for (int j=0;j<3;j++){
+        fahren(6000,0,1);
+        drehen(-90);
+    }
+    fahren(6000,0,1);
+    return 1;
+}    
 int main() {
     timer.reset();
     timer.start();
@@ -30,25 +49,13 @@
     Motor_A.pulsewidth_us(1);
     Motor_B.period_ms(10);
     Motor_B.pulsewidth_us(1);
-    int dir=1;
+    //int dir=1;
      
     Serial pc (USBTX,USBRX);
     pc.baud(115200);
     while(true) {
-        dir=!dir;
-        pc.printf("New Direction: %d %3.1f \r\n",dir,timer.read());
-        
-        if (dir==1){
-            pc.printf("Forwaerts");
-            drehen(180);
-        }
-        else{
-            pc.printf("Rueckwaerts");
-            drehen(-180);
-        }
-        pc.printf(" Gedreht\r\n");
-        Motor_A.pulsewidth_us(0);
-        Motor_B.pulsewidth_us(0);
+        pc.printf("Ich fahre eine acht %3.1f \r\n",timer.read());
+        fahre_eine_acht();
         wait(0.5);
     }
 }