PES2_R2D2.0 / Mbed 2 deprecated MicroMouse_MASTER_TWO

READY TO RUMBLE

Dependencies:   mbed

Fork of Micromouse_alpha_copy_copy by PES2_R2D2.0

main.cpp@0:a9fe4ef404bf, 2018-03-07 (annotated)

Committer:
ruesipat
Date:
Wed Mar 07 14:06:19 2018 +0000
Revision:
0:a9fe4ef404bf
Child:
1:d9e840c48b1e
hallo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ruesipat 0:a9fe4ef404bf 1 #include "mbed.h"
ruesipat 0:a9fe4ef404bf 2
ruesipat 0:a9fe4ef404bf 3 #include "IRSensor.h"
ruesipat 0:a9fe4ef404bf 4 #include "EncoderCounter.h"
ruesipat 0:a9fe4ef404bf 5 #include "LowpassFilter.h"
ruesipat 0:a9fe4ef404bf 6 #include "Controller.h"
ruesipat 0:a9fe4ef404bf 7
ruesipat 0:a9fe4ef404bf 8 DigitalIn button(USER_BUTTON);
ruesipat 0:a9fe4ef404bf 9 DigitalOut myled(LED1);
ruesipat 0:a9fe4ef404bf 10 DigitalOut led0(PC_8);
ruesipat 0:a9fe4ef404bf 11 DigitalOut led1(PC_6);
ruesipat 0:a9fe4ef404bf 12 DigitalOut led2(PB_12);
ruesipat 0:a9fe4ef404bf 13 DigitalOut led3(PA_7);
ruesipat 0:a9fe4ef404bf 14 DigitalOut led4(PC_0);
ruesipat 0:a9fe4ef404bf 15 DigitalOut led5(PC_9);
ruesipat 0:a9fe4ef404bf 16
ruesipat 0:a9fe4ef404bf 17 DigitalOut enableMotorDriver(PB_2);
ruesipat 0:a9fe4ef404bf 18 DigitalIn motorDriverFault(PB_14);
ruesipat 0:a9fe4ef404bf 19 DigitalIn motorDriverWarning(PB_15);
ruesipat 0:a9fe4ef404bf 20
ruesipat 0:a9fe4ef404bf 21 PwmOut pwmLeft(PA_8);
ruesipat 0:a9fe4ef404bf 22 PwmOut pwmRight(PA_9);
ruesipat 0:a9fe4ef404bf 23
ruesipat 0:a9fe4ef404bf 24 EncoderCounter controllerLeft(PB_6, PB_7);
ruesipat 0:a9fe4ef404bf 25 EncoderCounter controllerRight(PA_6, PC_7);
ruesipat 0:a9fe4ef404bf 26
ruesipat 0:a9fe4ef404bf 27 Controller controller(pwmLeft, pwmRight, controllerLeft, controllerRight);
ruesipat 0:a9fe4ef404bf 28
ruesipat 0:a9fe4ef404bf 29
ruesipat 0:a9fe4ef404bf 30 //AnalogIn analog_value(A0);
ruesipat 0:a9fe4ef404bf 31
ruesipat 0:a9fe4ef404bf 32 DigitalOut enable(PC_1);
ruesipat 0:a9fe4ef404bf 33
ruesipat 0:a9fe4ef404bf 34
ruesipat 0:a9fe4ef404bf 35 AnalogIn distance(PB_1); //Kreieren der Ein - und Ausgangsobjekte
ruesipat 0:a9fe4ef404bf 36 DigitalOut bit0(PH_1);
ruesipat 0:a9fe4ef404bf 37 DigitalOut bit1(PC_2);
ruesipat 0:a9fe4ef404bf 38 DigitalOut bit2(PC_3);
ruesipat 0:a9fe4ef404bf 39
ruesipat 0:a9fe4ef404bf 40
ruesipat 0:a9fe4ef404bf 41
ruesipat 0:a9fe4ef404bf 42 IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
ruesipat 0:a9fe4ef404bf 43 IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
ruesipat 0:a9fe4ef404bf 44 IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
ruesipat 0:a9fe4ef404bf 45 IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
ruesipat 0:a9fe4ef404bf 46 IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
ruesipat 0:a9fe4ef404bf 47 IRSensor irSensor5(distance, bit0, bit1, bit2, 5);
ruesipat 0:a9fe4ef404bf 48
ruesipat 0:a9fe4ef404bf 49 int main() {
ruesipat 0:a9fe4ef404bf 50
ruesipat 0:a9fe4ef404bf 51
ruesipat 0:a9fe4ef404bf 52 enableMotorDriver = 1; // Schaltet den Leistungstreiber ein
ruesipat 0:a9fe4ef404bf 53
ruesipat 0:a9fe4ef404bf 54 enable = 1;
ruesipat 0:a9fe4ef404bf 55
ruesipat 0:a9fe4ef404bf 56 while(1) {
ruesipat 0:a9fe4ef404bf 57
ruesipat 0:a9fe4ef404bf 58
ruesipat 0:a9fe4ef404bf 59
ruesipat 0:a9fe4ef404bf 60 float distance0 = irSensor0.read();
ruesipat 0:a9fe4ef404bf 61 float distance1 = irSensor1.read();
ruesipat 0:a9fe4ef404bf 62 float distance2 = irSensor2.read();
ruesipat 0:a9fe4ef404bf 63 float distance3 = irSensor3.read();
ruesipat 0:a9fe4ef404bf 64 float distance4 = irSensor4.read();
ruesipat 0:a9fe4ef404bf 65 float distance5 = irSensor5.read();
ruesipat 0:a9fe4ef404bf 66
ruesipat 0:a9fe4ef404bf 67
ruesipat 0:a9fe4ef404bf 68 if ( distance0 < 0.1f){
ruesipat 0:a9fe4ef404bf 69 led0 = 1;
ruesipat 0:a9fe4ef404bf 70 controller.setDesiredSpeedLeft(0.0f); //Drehzahl in (rpm)
ruesipat 0:a9fe4ef404bf 71 controller.setDesiredSpeedRight(0.0f); //Drehzahl in (rpm)
ruesipat 0:a9fe4ef404bf 72 }
ruesipat 0:a9fe4ef404bf 73 else{
ruesipat 0:a9fe4ef404bf 74 led0 = 0;
ruesipat 0:a9fe4ef404bf 75 controller.setDesiredSpeedLeft(50.0f);
ruesipat 0:a9fe4ef404bf 76 controller.setDesiredSpeedRight(-50.0f);
ruesipat 0:a9fe4ef404bf 77 }
ruesipat 0:a9fe4ef404bf 78
ruesipat 0:a9fe4ef404bf 79 if ( distance1 < 0.1f){
ruesipat 0:a9fe4ef404bf 80 led1 = 1;
ruesipat 0:a9fe4ef404bf 81 controller.setDesiredSpeedLeft(-50.0f);
ruesipat 0:a9fe4ef404bf 82 // controller.setDesiredSpeedRight(0.0f);
ruesipat 0:a9fe4ef404bf 83 }
ruesipat 0:a9fe4ef404bf 84 else{
ruesipat 0:a9fe4ef404bf 85 led1 = 0;
ruesipat 0:a9fe4ef404bf 86 // controller.setDesiredSpeedLeft(0.0f);
ruesipat 0:a9fe4ef404bf 87 // controller.setDesiredSpeedRight(0.0f);
ruesipat 0:a9fe4ef404bf 88 }
ruesipat 0:a9fe4ef404bf 89 if ( distance2 < 0.1f){
ruesipat 0:a9fe4ef404bf 90 led2 = 1;
ruesipat 0:a9fe4ef404bf 91 //pwmLeft = 0.6;
ruesipat 0:a9fe4ef404bf 92 //pwmRight = 0.4;
ruesipat 0:a9fe4ef404bf 93 }
ruesipat 0:a9fe4ef404bf 94 else{
ruesipat 0:a9fe4ef404bf 95 led2 = 0;
ruesipat 0:a9fe4ef404bf 96 //pwmLeft = 0.5;
ruesipat 0:a9fe4ef404bf 97 //pwmRight = 0.5;
ruesipat 0:a9fe4ef404bf 98 }
ruesipat 0:a9fe4ef404bf 99 if ( distance3 < 0.1f){
ruesipat 0:a9fe4ef404bf 100 led3 = 1;
ruesipat 0:a9fe4ef404bf 101 //pwmLeft = 0.6;
ruesipat 0:a9fe4ef404bf 102 //pwmRight = 0.4;
ruesipat 0:a9fe4ef404bf 103 }
ruesipat 0:a9fe4ef404bf 104 else{
ruesipat 0:a9fe4ef404bf 105 led3 = 0;
ruesipat 0:a9fe4ef404bf 106 //pwmLeft = 0.5;
ruesipat 0:a9fe4ef404bf 107 //pwmRight = 0.5;
ruesipat 0:a9fe4ef404bf 108 }
ruesipat 0:a9fe4ef404bf 109 if ( distance4 < 0.1f){
ruesipat 0:a9fe4ef404bf 110 led4 = 1;
ruesipat 0:a9fe4ef404bf 111 //pwmLeft = 0.6;
ruesipat 0:a9fe4ef404bf 112 //pwmRight = 0.4;
ruesipat 0:a9fe4ef404bf 113 }
ruesipat 0:a9fe4ef404bf 114 else{
ruesipat 0:a9fe4ef404bf 115 led4 = 0;
ruesipat 0:a9fe4ef404bf 116 //pwmLeft = 0.5;
ruesipat 0:a9fe4ef404bf 117 //pwmRight = 0.5;
ruesipat 0:a9fe4ef404bf 118 }
ruesipat 0:a9fe4ef404bf 119
ruesipat 0:a9fe4ef404bf 120 if ( distance5 < 0.1f){
ruesipat 0:a9fe4ef404bf 121 led5 = 1;
ruesipat 0:a9fe4ef404bf 122 controller.setDesiredSpeedRight(50.0f);
ruesipat 0:a9fe4ef404bf 123 //pwmRight = 0.4;
ruesipat 0:a9fe4ef404bf 124 }
ruesipat 0:a9fe4ef404bf 125 else{
ruesipat 0:a9fe4ef404bf 126 led5 = 0;
ruesipat 0:a9fe4ef404bf 127 //pwmLeft = 0.5;
ruesipat 0:a9fe4ef404bf 128 //pwmRight = 0.5;
ruesipat 0:a9fe4ef404bf 129 }
ruesipat 0:a9fe4ef404bf 130
ruesipat 0:a9fe4ef404bf 131 myled =! myled; // LED is ON
ruesipat 0:a9fe4ef404bf 132 wait(0.1f); // 100 ms
ruesipat 0:a9fe4ef404bf 133
ruesipat 0:a9fe4ef404bf 134
ruesipat 0:a9fe4ef404bf 135 }
ruesipat 0:a9fe4ef404bf 136 }