Sensoren auslesen/umwandeln/codieren und State Maschine
Dependencies: mbed
Fork of StateMachine_1 by
Diff: main.cpp
- Revision:
- 2:a227732e1412
- Parent:
- 0:e611a0b9f02a
- Child:
- 4:91a9737e4821
diff -r 619ca6edc4a9 -r a227732e1412 main.cpp --- a/main.cpp Mon Apr 16 13:43:06 2018 +0000 +++ b/main.cpp Mon Apr 16 14:18:35 2018 +0000 @@ -4,35 +4,33 @@ #include "Controller.h" #include "IRSensor.h" -DigitalOut myled(LED1); +// 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 led0(PC_8); +//DigitalOut led1(PC_6); +//DigitalOut led2(PB_12); +//DigitalOut led3(PA_7); +//DigitalOut led4(PC_0); +//DigitalOut led5(PC_9); -AnalogIn distance(PB_1); -DigitalOut enable(PC_1); -DigitalOut bit0(PH_1); -DigitalOut bit1(PC_2); -DigitalOut bit2(PC_3); +//AnalogIn distance(PB_1); +//DigitalOut enable(PC_1); +//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); +IRSensor irSensorF(PC_2); +IRSensor irSensorR(PC_3); +IRSensor irSensorL(PC_5); +BottomSensor lineDetector(RX/D0); DigitalOut enableMotorDriver(PB_2); DigitalIn motorDriverFault(PB_14); DigitalIn motorDriverWarning(PB_15); -PwmOut pwmLeft(PA_8); -PwmOut pwmRight(PA_9); +PwmOut pwmLeft(PA_9); +PwmOut pwmRight(PA_8); EncoderCounter counterLeft(PB_6, PB_7); EncoderCounter counterRight(PA_6, PC_7); @@ -51,23 +49,23 @@ myled =! myled; - if (irSensor0.read() < 0.2f) led0 = 1; + if (irSensorf.read() < 0.2f) led0 = 1; else led0 = 0; - if (irSensor1.read() < 0.2f) led1 = 1; + if (irSensorR.read() < 0.2f) led1 = 1; else led1 = 0; - if (irSensor2.read() < 0.2f) led2 = 1; + if (irSensorL.read() < 0.2f) led2 = 1; else led2 = 0; - if (irSensor3.read() < 0.2f) led3 = 1; - else led3 = 0; + //if (irSensor3.read() < 0.2f) led3 = 1; + //else led3 = 0; - if (irSensor4.read() < 0.2f) led4 = 1; - else led4 = 0; + //if (irSensor4.read() < 0.2f) led4 = 1; + //else led4 = 0; - if (irSensor5.read() < 0.2f) led5 = 1; - else led0 = 5; + //if (irSensor5.read() < 0.2f) led5 = 1; + //else led0 = 5; printf("iSumLeft: %f, iSumRight: %f, counterDiff; %d \n\r", controller.getIntegralLeft(), controller.getIntegralRight(), (counterLeft.read()+counterRight.read()));