Diff: main.cpp

Revision:

0:af3f2e5c9cd4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Apr 19 11:53:52 2018 +0000
@@ -0,0 +1,74 @@
+#include <mbed.h>
+#include "IRSensor.h"
+#include "Controller.h"
+#include "EncoderCounter.h"
+#include "LowpassFilter.h"
+    
+    DigitalOut enable(PC_1);
+    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 enableMotorDriver(PB_2);
+    
+    DigitalIn motorDriverFault(PB_14);
+    DigitalIn motorDriverWarning(PB_15);
+    
+    PwmOut pwmLeft(PA_8);
+    PwmOut pwmRight(PA_9);
+    
+    EncoderCounter counterLeft(PB_6, PC_7);
+    EncoderCounter counterRight(PA_6, PC_7);
+    
+    Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
+        
+    AnalogIn distance(PB_1); //Kriterien der Ein- und Ausgabeobjekte
+    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);
+    
+    int main() {
+        
+        enable = 1;
+        
+        controller.setDesiredSpeedLeft(10.0f);
+        controller.setDesiredSpeedRight(-10.0f);
+        enable=1;
+        enableMotorDriver = 1;    
+        
+       while(1) {
+            float distance0 = irSensor0.read();
+            float distance1 = irSensor1.read();
+            float distance2 = irSensor2.read();
+            float distance3 = irSensor3.read();
+            float distance4 = irSensor4.read();
+            float distance5 = irSensor5.read();
+            
+            wait(0.1f); //100ms
+            
+            
+            if (irSensor0.read() < 0.2f) led0 =1;
+            else led0 =0; 
+            if (irSensor1.read() < 0.2f) led1 =1;
+            else led0 =0; 
+            if (irSensor2.read() < 0.2f) led2 =1;
+            else led0 =0; 
+            if (irSensor3.read() < 0.2f) led3 =1;
+            else led0 =0; 
+            if (irSensor4.read() < 0.2f) led4 =1;
+            else led0 =0; 
+            if (irSensor5.read() < 0.2f) led5 =1;
+            else led0 =0; 
+        } 
+    }
+    
\ No newline at end of file