Sensoren auslesen/umwandeln/codieren und State Maschine
Dependencies: mbed
Fork of StateMachine_1 by
main.cpp@2:a227732e1412, 2018-04-16 (annotated)
- Committer:
- Jacqueline
- Date:
- Mon Apr 16 14:18:35 2018 +0000
- Revision:
- 2:a227732e1412
- Parent:
- 0:e611a0b9f02a
- Child:
- 4:91a9737e4821
h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jacqueline | 0:e611a0b9f02a | 1 | #include <mbed.h> |
Jacqueline | 0:e611a0b9f02a | 2 | |
Jacqueline | 0:e611a0b9f02a | 3 | #include "EncoderCounter.h" |
Jacqueline | 0:e611a0b9f02a | 4 | #include "Controller.h" |
Jacqueline | 0:e611a0b9f02a | 5 | #include "IRSensor.h" |
Jacqueline | 0:e611a0b9f02a | 6 | |
Jacqueline | 2:a227732e1412 | 7 | // DigitalOut myled(LED1); |
Jacqueline | 0:e611a0b9f02a | 8 | |
Jacqueline | 2:a227732e1412 | 9 | //DigitalOut led0(PC_8); |
Jacqueline | 2:a227732e1412 | 10 | //DigitalOut led1(PC_6); |
Jacqueline | 2:a227732e1412 | 11 | //DigitalOut led2(PB_12); |
Jacqueline | 2:a227732e1412 | 12 | //DigitalOut led3(PA_7); |
Jacqueline | 2:a227732e1412 | 13 | //DigitalOut led4(PC_0); |
Jacqueline | 2:a227732e1412 | 14 | //DigitalOut led5(PC_9); |
Jacqueline | 0:e611a0b9f02a | 15 | |
Jacqueline | 2:a227732e1412 | 16 | //AnalogIn distance(PB_1); |
Jacqueline | 2:a227732e1412 | 17 | //DigitalOut enable(PC_1); |
Jacqueline | 2:a227732e1412 | 18 | //DigitalOut bit0(PH_1); |
Jacqueline | 2:a227732e1412 | 19 | //DigitalOut bit1(PC_2); |
Jacqueline | 2:a227732e1412 | 20 | //DigitalOut bit2(PC_3); |
Jacqueline | 0:e611a0b9f02a | 21 | |
Jacqueline | 2:a227732e1412 | 22 | IRSensor irSensorF(PC_2); |
Jacqueline | 2:a227732e1412 | 23 | IRSensor irSensorR(PC_3); |
Jacqueline | 2:a227732e1412 | 24 | IRSensor irSensorL(PC_5); |
Jacqueline | 0:e611a0b9f02a | 25 | |
Jacqueline | 2:a227732e1412 | 26 | BottomSensor lineDetector(RX/D0); |
Jacqueline | 0:e611a0b9f02a | 27 | |
Jacqueline | 0:e611a0b9f02a | 28 | DigitalOut enableMotorDriver(PB_2); |
Jacqueline | 0:e611a0b9f02a | 29 | DigitalIn motorDriverFault(PB_14); |
Jacqueline | 0:e611a0b9f02a | 30 | DigitalIn motorDriverWarning(PB_15); |
Jacqueline | 0:e611a0b9f02a | 31 | |
Jacqueline | 2:a227732e1412 | 32 | PwmOut pwmLeft(PA_9); |
Jacqueline | 2:a227732e1412 | 33 | PwmOut pwmRight(PA_8); |
Jacqueline | 0:e611a0b9f02a | 34 | |
Jacqueline | 0:e611a0b9f02a | 35 | EncoderCounter counterLeft(PB_6, PB_7); |
Jacqueline | 0:e611a0b9f02a | 36 | EncoderCounter counterRight(PA_6, PC_7); |
Jacqueline | 0:e611a0b9f02a | 37 | |
Jacqueline | 0:e611a0b9f02a | 38 | Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); |
Jacqueline | 0:e611a0b9f02a | 39 | |
Jacqueline | 0:e611a0b9f02a | 40 | int main() |
Jacqueline | 0:e611a0b9f02a | 41 | { |
Jacqueline | 0:e611a0b9f02a | 42 | |
Jacqueline | 0:e611a0b9f02a | 43 | controller.setDesiredSpeedLeft(150.0f); // Drehzahl in [rpm] |
Jacqueline | 0:e611a0b9f02a | 44 | controller.setDesiredSpeedRight(-150.0f); |
Jacqueline | 0:e611a0b9f02a | 45 | enable = 1; |
Jacqueline | 0:e611a0b9f02a | 46 | enableMotorDriver = 1; // Schaltet den Leistungstreiber ein |
Jacqueline | 0:e611a0b9f02a | 47 | |
Jacqueline | 0:e611a0b9f02a | 48 | while(1) { |
Jacqueline | 0:e611a0b9f02a | 49 | |
Jacqueline | 0:e611a0b9f02a | 50 | myled =! myled; |
Jacqueline | 0:e611a0b9f02a | 51 | |
Jacqueline | 2:a227732e1412 | 52 | if (irSensorf.read() < 0.2f) led0 = 1; |
Jacqueline | 0:e611a0b9f02a | 53 | else led0 = 0; |
Jacqueline | 0:e611a0b9f02a | 54 | |
Jacqueline | 2:a227732e1412 | 55 | if (irSensorR.read() < 0.2f) led1 = 1; |
Jacqueline | 0:e611a0b9f02a | 56 | else led1 = 0; |
Jacqueline | 0:e611a0b9f02a | 57 | |
Jacqueline | 2:a227732e1412 | 58 | if (irSensorL.read() < 0.2f) led2 = 1; |
Jacqueline | 0:e611a0b9f02a | 59 | else led2 = 0; |
Jacqueline | 0:e611a0b9f02a | 60 | |
Jacqueline | 2:a227732e1412 | 61 | //if (irSensor3.read() < 0.2f) led3 = 1; |
Jacqueline | 2:a227732e1412 | 62 | //else led3 = 0; |
Jacqueline | 0:e611a0b9f02a | 63 | |
Jacqueline | 2:a227732e1412 | 64 | //if (irSensor4.read() < 0.2f) led4 = 1; |
Jacqueline | 2:a227732e1412 | 65 | //else led4 = 0; |
Jacqueline | 0:e611a0b9f02a | 66 | |
Jacqueline | 2:a227732e1412 | 67 | //if (irSensor5.read() < 0.2f) led5 = 1; |
Jacqueline | 2:a227732e1412 | 68 | //else led0 = 5; |
Jacqueline | 0:e611a0b9f02a | 69 | |
Jacqueline | 0:e611a0b9f02a | 70 | printf("iSumLeft: %f, iSumRight: %f, counterDiff; %d \n\r", controller.getIntegralLeft(), controller.getIntegralRight(), (counterLeft.read()+counterRight.read())); |
Jacqueline | 0:e611a0b9f02a | 71 | |
Jacqueline | 0:e611a0b9f02a | 72 | wait(0.2f); // 100 ms |
Jacqueline | 0:e611a0b9f02a | 73 | |
Jacqueline | 0:e611a0b9f02a | 74 | } |
Jacqueline | 0:e611a0b9f02a | 75 | } |