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Dependencies: mbed
main.cpp@15:31d09ee65cf1, 2018-07-04 (annotated)
- Committer:
- wengefa1
- Date:
- Wed Jul 04 09:14:37 2018 +0000
- Revision:
- 15:31d09ee65cf1
- Parent:
- 14:0caa7b93af7a
Schalter f?r Moduswechsel implementiert
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Alexander_Zuest | 0:4a0b987c5c94 | 1 | #include "mbed.h" |
| Alexander_Zuest | 0:4a0b987c5c94 | 2 | #include "Controller.h" |
| Alexander_Zuest | 0:4a0b987c5c94 | 3 | #include "MotorDriver.h" |
| Alexander_Zuest | 0:4a0b987c5c94 | 4 | #include "ReadFinalLine.h" |
| Alexander_Zuest | 0:4a0b987c5c94 | 5 | #include "ReadSensor.h" |
| Alexander_Zuest | 0:4a0b987c5c94 | 6 | #include "Mapping.h" |
| Alexander_Zuest | 0:4a0b987c5c94 | 7 | #include "AutoDrive.h" |
| Alexander_Zuest | 0:4a0b987c5c94 | 8 | #include "RouteCalculation.h" |
| Alexander_Zuest | 14:0caa7b93af7a | 9 | |
| wengefa1 | 15:31d09ee65cf1 | 10 | DigitalIn ModeSwitch (PB_0); |
| Alexander_Zuest | 14:0caa7b93af7a | 11 | char* route; |
| Alexander_Zuest | 14:0caa7b93af7a | 12 | |
| Alexander_Zuest | 14:0caa7b93af7a | 13 | // inizialisieren der Karte |
| Alexander_Zuest | 14:0caa7b93af7a | 14 | int map[20][10]; |
| wengefa1 | 15:31d09ee65cf1 | 15 | bool mappingpassed = false; |
| Alexander_Zuest | 0:4a0b987c5c94 | 16 | |
| Alexander_Zuest | 0:4a0b987c5c94 | 17 | |
| Alexander_Zuest | 2:cb6bae534500 | 18 | |
| wengefa1 | 15:31d09ee65cf1 | 19 | int main() |
| wengefa1 | 15:31d09ee65cf1 | 20 | { |
| Alexander_Zuest | 14:0caa7b93af7a | 21 | printf("startup"); |
| Alexander_Zuest | 0:4a0b987c5c94 | 22 | startup(); |
| wengefa1 | 15:31d09ee65cf1 | 23 | wait(10); |
| wengefa1 | 15:31d09ee65cf1 | 24 | |
| wengefa1 | 15:31d09ee65cf1 | 25 | while(1) { |
| wengefa1 | 15:31d09ee65cf1 | 26 | // Mapping Modus |
| wengefa1 | 15:31d09ee65cf1 | 27 | if (ModeSwitch == 0) { //Modus Schalter abfrage |
| wengefa1 | 15:31d09ee65cf1 | 28 | wait(0.5); //Schalter entprellen |
| wengefa1 | 15:31d09ee65cf1 | 29 | if (mappingpassed == false){ //Mapping kann nicht zwei mal nacheinander abgefahren werden, autoDrive muss dazwischen aufgerufen werden |
| wengefa1 | 15:31d09ee65cf1 | 30 | printf("mapping"); |
| wengefa1 | 15:31d09ee65cf1 | 31 | mapping(map); |
| wengefa1 | 15:31d09ee65cf1 | 32 | mappingpassed = true; |
| wengefa1 | 15:31d09ee65cf1 | 33 | } |
| wengefa1 | 15:31d09ee65cf1 | 34 | } else { //Modus berechnen und Abfahren |
| wengefa1 | 15:31d09ee65cf1 | 35 | wait(0.5); //Schalter entprellen |
| wengefa1 | 15:31d09ee65cf1 | 36 | // Autodrive Modus |
| wengefa1 | 15:31d09ee65cf1 | 37 | printf("Route wird berechnet"); |
| wengefa1 | 15:31d09ee65cf1 | 38 | //route = RouteCalculation(map); |
| wengefa1 | 15:31d09ee65cf1 | 39 | printf("Berechnung Abgeschlossen"); |
| wengefa1 | 15:31d09ee65cf1 | 40 | mappingpassed = false; |
| wengefa1 | 15:31d09ee65cf1 | 41 | //wait(20); |
| wengefa1 | 15:31d09ee65cf1 | 42 | //printf("strecke wird abgefahren"); |
| wengefa1 | 15:31d09ee65cf1 | 43 | //autoDrive(route); |
| wengefa1 | 15:31d09ee65cf1 | 44 | } |
| wengefa1 | 15:31d09ee65cf1 | 45 | } |
| Alexander_Zuest | 0:4a0b987c5c94 | 46 | } |
| Alexander_Zuest | 0:4a0b987c5c94 | 47 |