Prometheus / IRSensor

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main.cpp@0:f4862c7fd394, 2017-02-28 (annotated)

Committer:
ZHAW_Prometheus
Date:
Tue Feb 28 15:28:07 2017 +0000
Revision:
0:f4862c7fd394
0.1;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ZHAW_Prometheus 0:f4862c7fd394 1 #include "mbed.h"
ZHAW_Prometheus 0:f4862c7fd394 2 #include "IRSensor.h"
ZHAW_Prometheus 0:f4862c7fd394 3
ZHAW_Prometheus 0:f4862c7fd394 4 DigitalOut led(LED1);
ZHAW_Prometheus 0:f4862c7fd394 5
ZHAW_Prometheus 0:f4862c7fd394 6 //Perophery for distance sensors
ZHAW_Prometheus 0:f4862c7fd394 7 AnalogIn distance(PB_1);
ZHAW_Prometheus 0:f4862c7fd394 8 DigitalOut enable(PC_1);
ZHAW_Prometheus 0:f4862c7fd394 9 DigitalOut bit0(PH_1);
ZHAW_Prometheus 0:f4862c7fd394 10 DigitalOut bit1(PC_2);
ZHAW_Prometheus 0:f4862c7fd394 11 DigitalOut bit2(PC_3);
ZHAW_Prometheus 0:f4862c7fd394 12 IRSensor sensors[6];
ZHAW_Prometheus 0:f4862c7fd394 13
ZHAW_Prometheus 0:f4862c7fd394 14 //indicator leds arround robot
ZHAW_Prometheus 0:f4862c7fd394 15 DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
ZHAW_Prometheus 0:f4862c7fd394 16
ZHAW_Prometheus 0:f4862c7fd394 17 //timer object for ledshow and distance sensor
ZHAW_Prometheus 0:f4862c7fd394 18 Ticker t1;
ZHAW_Prometheus 0:f4862c7fd394 19
ZHAW_Prometheus 0:f4862c7fd394 20 //motor stuff
ZHAW_Prometheus 0:f4862c7fd394 21 DigitalOut enableMotorDriver(PB_2);
ZHAW_Prometheus 0:f4862c7fd394 22 PwmOut pwmL(PA_8);
ZHAW_Prometheus 0:f4862c7fd394 23 PwmOut pwmR(PA_9);
ZHAW_Prometheus 0:f4862c7fd394 24
ZHAW_Prometheus 0:f4862c7fd394 25 //lights up the led according to the sensor signal
ZHAW_Prometheus 0:f4862c7fd394 26 void ledDistance()
ZHAW_Prometheus 0:f4862c7fd394 27 {
ZHAW_Prometheus 0:f4862c7fd394 28 for( int ii = 0; ii<6; ++ii)
ZHAW_Prometheus 0:f4862c7fd394 29 sensors[ii]< 0.1f ? leds[ii] = 1 : leds[ii] = 0;
ZHAW_Prometheus 0:f4862c7fd394 30 }
ZHAW_Prometheus 0:f4862c7fd394 31
ZHAW_Prometheus 0:f4862c7fd394 32 //blinks at startup and starts ledDistance task
ZHAW_Prometheus 0:f4862c7fd394 33 void ledShow()
ZHAW_Prometheus 0:f4862c7fd394 34 {
ZHAW_Prometheus 0:f4862c7fd394 35 static int timer = 0;
ZHAW_Prometheus 0:f4862c7fd394 36 for( int ii = 0; ii<6; ++ii)
ZHAW_Prometheus 0:f4862c7fd394 37 leds[ii] = !leds[ii];
ZHAW_Prometheus 0:f4862c7fd394 38
ZHAW_Prometheus 0:f4862c7fd394 39 //quit ticker and start led distance show
ZHAW_Prometheus 0:f4862c7fd394 40 if( ++timer > 10) {
ZHAW_Prometheus 0:f4862c7fd394 41 t1.detach();
ZHAW_Prometheus 0:f4862c7fd394 42 t1.attach( &ledDistance, 0.01f );
ZHAW_Prometheus 0:f4862c7fd394 43 }
ZHAW_Prometheus 0:f4862c7fd394 44 }
ZHAW_Prometheus 0:f4862c7fd394 45
ZHAW_Prometheus 0:f4862c7fd394 46 int main()
ZHAW_Prometheus 0:f4862c7fd394 47 {
ZHAW_Prometheus 0:f4862c7fd394 48 pwmL.period(0.00005f); // Setzt die Periode auf 50 μs
ZHAW_Prometheus 0:f4862c7fd394 49 pwmR.period(0.00005f);
ZHAW_Prometheus 0:f4862c7fd394 50
ZHAW_Prometheus 0:f4862c7fd394 51 pwmL = 0.5f; // Setzt die Duty-Cycle auf 50%
ZHAW_Prometheus 0:f4862c7fd394 52 pwmR = 0.5f;
ZHAW_Prometheus 0:f4862c7fd394 53 enableMotorDriver = 0;
ZHAW_Prometheus 0:f4862c7fd394 54
ZHAW_Prometheus 0:f4862c7fd394 55 t1.attach( &ledShow, 0.05f );
ZHAW_Prometheus 0:f4862c7fd394 56
ZHAW_Prometheus 0:f4862c7fd394 57 //init distance sensors
ZHAW_Prometheus 0:f4862c7fd394 58 for( int ii = 0; ii<6; ++ii)
ZHAW_Prometheus 0:f4862c7fd394 59 sensors[ii].init(&distance, &bit0, &bit1, &bit2, ii);
ZHAW_Prometheus 0:f4862c7fd394 60
ZHAW_Prometheus 0:f4862c7fd394 61 enable = 1;
ZHAW_Prometheus 0:f4862c7fd394 62
ZHAW_Prometheus 0:f4862c7fd394 63 while(1) {
ZHAW_Prometheus 0:f4862c7fd394 64 wait( 0.2f );
ZHAW_Prometheus 0:f4862c7fd394 65 }
ZHAW_Prometheus 0:f4862c7fd394 66 }
ZHAW_Prometheus 0:f4862c7fd394 67