Prometheus / Mbed 2 deprecated Prom_Roebi

Prom_Roebi_0.1

Dependencies:   Farbsensor IRSensorLib PID_Control Servo mbed PixyLib

main.cpp@10:10bcb7fee9a6, 2017-05-20 (annotated)

Committer:
ZHAW_Prometheus
Date:
Sat May 20 12:01:27 2017 +0000
Revision:
10:10bcb7fee9a6
Parent:
9:b83994ef4b08
Child:
12:472b26872a42
Vers. 20.05.2017 14:00

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ZHAW_Prometheus 0:422088ad7fc5 1 #include "mbed.h"
ZHAW_Prometheus 0:422088ad7fc5 2 #include "cstdlib"
ZHAW_Prometheus 0:422088ad7fc5 3 #include "IRSensor.h"
ZHAW_Prometheus 0:422088ad7fc5 4 #include "Servo.h"
ZHAW_Prometheus 7:5949f408b6da 5 //#include "Pixy.h"
ZHAW_Prometheus 0:422088ad7fc5 6 #include "Farbauswertung.h"
ZHAW_Prometheus 1:5c44e2462a8b 7 #include "Fahren.h"
ZHAW_Prometheus 1:5c44e2462a8b 8 #include "liftAnsteuerung.h"
ZHAW_Prometheus 8:077d0bb213a2 9 #include "Pixy.h"
ZHAW_Prometheus 8:077d0bb213a2 10 #include "PID_Control.h"
ZHAW_Prometheus 10:10bcb7fee9a6 11 #include "Button.h"
ZHAW_Prometheus 0:422088ad7fc5 12
ZHAW_Prometheus 0:422088ad7fc5 13 /**
ZHAW_Prometheus 0:422088ad7fc5 14 *Aus- und Eingänge initialisieren
ZHAW_Prometheus 0:422088ad7fc5 15 */
ZHAW_Prometheus 1:5c44e2462a8b 16 //Button
ZHAW_Prometheus 9:b83994ef4b08 17 DigitalIn usrButton(USER_BUTTON);
ZHAW_Prometheus 9:b83994ef4b08 18
ZHAW_Prometheus 10:10bcb7fee9a6 19 //Serielle Ports deklarieren
ZHAW_Prometheus 9:b83994ef4b08 20 Serial pc(USBTX,USBRX);
ZHAW_Prometheus 9:b83994ef4b08 21 Serial cam(PA_9, PA_10);
ZHAW_Prometheus 9:b83994ef4b08 22
ZHAW_Prometheus 9:b83994ef4b08 23 PID_Control pid;
ZHAW_Prometheus 9:b83994ef4b08 24
ZHAW_Prometheus 0:422088ad7fc5 25 //IRSensoren
ZHAW_Prometheus 10:10bcb7fee9a6 26 DigitalOut enable(PC_1);
ZHAW_Prometheus 10:10bcb7fee9a6 27 DigitalOut bit0(PH_1);
ZHAW_Prometheus 10:10bcb7fee9a6 28 DigitalOut bit1(PC_2);
ZHAW_Prometheus 10:10bcb7fee9a6 29 DigitalOut bit2(PC_3);
ZHAW_Prometheus 10:10bcb7fee9a6 30 AnalogIn distance(PB_1);
ZHAW_Prometheus 0:422088ad7fc5 31 //Motoren
ZHAW_Prometheus 10:10bcb7fee9a6 32 DigitalOut enableMotorDriver(PB_2);
ZHAW_Prometheus 10:10bcb7fee9a6 33 PwmOut pwmLeft(PA_8);
ZHAW_Prometheus 10:10bcb7fee9a6 34 PwmOut pwmRight(PA_9);
ZHAW_Prometheus 0:422088ad7fc5 35 //LED's
ZHAW_Prometheus 10:10bcb7fee9a6 36 DigitalOut led0(PC_8);
ZHAW_Prometheus 10:10bcb7fee9a6 37 DigitalOut led1(PC_6);
ZHAW_Prometheus 10:10bcb7fee9a6 38 DigitalOut led5(PC_9);
ZHAW_Prometheus 10:10bcb7fee9a6 39 DigitalOut led3(PA_7);
ZHAW_Prometheus 0:422088ad7fc5 40 //Farbauswertung
ZHAW_Prometheus 10:10bcb7fee9a6 41 AnalogIn SensorG(PA_0);
ZHAW_Prometheus 10:10bcb7fee9a6 42 AnalogIn SensorR(PA_1);
ZHAW_Prometheus 10:10bcb7fee9a6 43 Servo ServoAusw(PB_7);
ZHAW_Prometheus 10:10bcb7fee9a6 44 Servo ServoFoerder(PC_7);
ZHAW_Prometheus 1:5c44e2462a8b 45 //Lift
ZHAW_Prometheus 10:10bcb7fee9a6 46 Servo ServoLift(PB_6);
ZHAW_Prometheus 7:5949f408b6da 47 //Kamera
ZHAW_Prometheus 8:077d0bb213a2 48 Pixy pixy(cam);
ZHAW_Prometheus 8:077d0bb213a2 49
ZHAW_Prometheus 8:077d0bb213a2 50 //Robotersteuerung
ZHAW_Prometheus 10:10bcb7fee9a6 51 Button userButton(2, usrButton);
ZHAW_Prometheus 1:5c44e2462a8b 52 Farbauswertung farbauswertung(&SensorG, &SensorR, &ServoAusw);
ZHAW_Prometheus 10:10bcb7fee9a6 53 Fahren fahren(&enable, &bit0, &bit1, &bit2, &distance, &enableMotorDriver, pwmLeft, pwmRight, pixy, pid, userButton);
ZHAW_Prometheus 9:b83994ef4b08 54 LiftAnsteuerung lift(10, 1, &ServoLift);
ZHAW_Prometheus 0:422088ad7fc5 55
ZHAW_Prometheus 8:077d0bb213a2 56
ZHAW_Prometheus 0:422088ad7fc5 57 int main()
ZHAW_Prometheus 0:422088ad7fc5 58 {
ZHAW_Prometheus 9:b83994ef4b08 59 //farbauswertung.setSerialOutput(&pc);
ZHAW_Prometheus 9:b83994ef4b08 60 //fahren.setSerialOutput(&pc);
ZHAW_Prometheus 8:077d0bb213a2 61 pid.setPIDValues( 0.001f, 0.001f, 0.00015f, 0.3f, -0.3f, 1000);
ZHAW_Prometheus 1:5c44e2462a8b 62
ZHAW_Prometheus 8:077d0bb213a2 63 //ServoLift = 1.2f; //1.2
ZHAW_Prometheus 1:5c44e2462a8b 64 ServoFoerder = 0.1f; //0.1
ZHAW_Prometheus 1:5c44e2462a8b 65
ZHAW_Prometheus 1:5c44e2462a8b 66 fahren.fahrInit();
ZHAW_Prometheus 0:422088ad7fc5 67
ZHAW_Prometheus 0:422088ad7fc5 68 Ticker farbe;
schuema4 3:017c85c4b14b 69 farbe.attach(&farbauswertung, &Farbauswertung::auswertung, 0.01);
ZHAW_Prometheus 0:422088ad7fc5 70
ZHAW_Prometheus 1:5c44e2462a8b 71 Ticker drive;
schuema4 3:017c85c4b14b 72 drive.attach(&fahren, &Fahren::fahrRutine, 0.01);
ZHAW_Prometheus 1:5c44e2462a8b 73
ZHAW_Prometheus 7:5949f408b6da 74 Ticker elevator;
ZHAW_Prometheus 9:b83994ef4b08 75 elevator.attach(&lift, &LiftAnsteuerung::steuerung, 0.1);
ZHAW_Prometheus 7:5949f408b6da 76
ZHAW_Prometheus 10:10bcb7fee9a6 77 Ticker inputUserButton;
ZHAW_Prometheus 10:10bcb7fee9a6 78 inputUserButton.attach(&userButton, &Button::setState, 1);
ZHAW_Prometheus 10:10bcb7fee9a6 79
ZHAW_Prometheus 8:077d0bb213a2 80
ZHAW_Prometheus 1:5c44e2462a8b 81
ZHAW_Prometheus 0:422088ad7fc5 82 while (1) {
ZHAW_Prometheus 10:10bcb7fee9a6 83 pc.printf("State Button: %d\n\r", userButton.getState());
ZHAW_Prometheus 10:10bcb7fee9a6 84 wait(5.0);
ZHAW_Prometheus 9:b83994ef4b08 85
ZHAW_Prometheus 0:422088ad7fc5 86 }
ZHAW_Prometheus 0:422088ad7fc5 87 }