Diff: main.cpp

Revision:

0:a9fe4ef404bf

Child:

1:d9e840c48b1e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 07 14:06:19 2018 +0000
@@ -0,0 +1,136 @@
+#include "mbed.h"
+ 
+#include "IRSensor.h"
+#include "EncoderCounter.h"
+#include "LowpassFilter.h"
+#include "Controller.h"
+
+DigitalIn button(USER_BUTTON);
+DigitalOut myled(LED1);
+DigitalOut led0(PC_8);
+DigitalOut led1(PC_6);
+DigitalOut led2(PB_12);
+DigitalOut led3(PA_7);
+DigitalOut led4(PC_0);
+DigitalOut led5(PC_9);
+
+DigitalOut enableMotorDriver(PB_2);
+DigitalIn motorDriverFault(PB_14);
+DigitalIn motorDriverWarning(PB_15);
+
+PwmOut pwmLeft(PA_8);
+PwmOut pwmRight(PA_9);
+
+EncoderCounter controllerLeft(PB_6, PB_7);
+EncoderCounter controllerRight(PA_6, PC_7);
+
+Controller controller(pwmLeft, pwmRight, controllerLeft, controllerRight);
+ 
+ 
+//AnalogIn analog_value(A0);
+ 
+DigitalOut enable(PC_1);
+
+
+AnalogIn distance(PB_1); //Kreieren der Ein - und Ausgangsobjekte
+DigitalOut bit0(PH_1);
+DigitalOut bit1(PC_2);
+DigitalOut bit2(PC_3);
+
+
+
+IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
+IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
+IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
+IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
+IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
+IRSensor irSensor5(distance, bit0, bit1, bit2, 5);
+
+int main() {
+
+    
+    enableMotorDriver = 1; // Schaltet den Leistungstreiber ein
+
+    enable = 1;
+    
+    while(1) {
+        
+        
+        
+        float distance0 = irSensor0.read();
+        float distance1 = irSensor1.read();
+        float distance2 = irSensor2.read();
+        float distance3 = irSensor3.read();
+        float distance4 = irSensor4.read();
+        float distance5 = irSensor5.read();
+        
+        
+        if ( distance0 < 0.1f){
+        led0 = 1;
+        controller.setDesiredSpeedLeft(0.0f); //Drehzahl in (rpm)
+        controller.setDesiredSpeedRight(0.0f); //Drehzahl in (rpm)
+        } 
+        else{
+        led0 = 0;
+        controller.setDesiredSpeedLeft(50.0f); 
+        controller.setDesiredSpeedRight(-50.0f); 
+        }
+        
+        if ( distance1 < 0.1f){
+        led1 = 1;
+        controller.setDesiredSpeedLeft(-50.0f);
+     //   controller.setDesiredSpeedRight(0.0f);
+        } 
+        else{
+        led1 = 0;
+    //    controller.setDesiredSpeedLeft(0.0f);
+     //   controller.setDesiredSpeedRight(0.0f); 
+        }        
+        if ( distance2 < 0.1f){
+        led2 = 1;
+        //pwmLeft = 0.6; 
+        //pwmRight = 0.4;
+        } 
+        else{
+        led2 = 0;
+        //pwmLeft = 0.5; 
+        //pwmRight = 0.5;
+        }        
+        if ( distance3 < 0.1f){
+        led3 = 1;
+        //pwmLeft = 0.6; 
+        //pwmRight = 0.4;
+        } 
+        else{
+        led3 = 0;
+        //pwmLeft = 0.5; 
+        //pwmRight = 0.5;
+        }        
+        if ( distance4 < 0.1f){
+        led4 = 1;
+        //pwmLeft = 0.6; 
+        //pwmRight = 0.4;
+        } 
+        else{
+        led4 = 0;
+        //pwmLeft = 0.5; 
+        //pwmRight = 0.5;
+        }     
+                
+        if ( distance5 < 0.1f){
+        led5 = 1;
+        controller.setDesiredSpeedRight(50.0f);
+        //pwmRight = 0.4;
+        } 
+        else{
+        led5 = 0;
+        //pwmLeft = 0.5; 
+        //pwmRight = 0.5;
+        }        
+                
+        myled =! myled; // LED is ON
+        wait(0.1f); // 100 ms
+
+        
+    }
+}