Diff: main.cpp

Revision:

15:8e8b23d4abb4

Parent:

14:feafcee53fed

--- a/main.cpp	Mon May 14 22:11:47 2018 +0000
+++ b/main.cpp	Tue May 15 21:50:26 2018 +0000
@@ -55,6 +55,7 @@
 int links = 0;
 int linksLast = 0;
 int skip = 0;
+int BL = 1;
                                                      //von main Vincent kopiert
 
 DigitalOut enableMotorDriver(PB_2);
@@ -67,44 +68,26 @@
 EncoderCounter counterLeft(PB_6, PB_7);
 EncoderCounter counterRight(PA_6, PC_7);
 
-IRSensor iRSensor(IrRight, IrLeft, IrFront, dis2R, dis2L, dis2F, LineSensor);          //von main Vincent kopiert
+IRSensor iRSensor(IrRight, IrLeft, IrFront, dis2R, dis2L, dis2F, LineSensor, button);          //von main Vincent kopiert
 
 Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
 
 Fahren fahren(controller, counterLeft, counterRight, iRSensor);                           //Reihenfolge!!!!!!!!!!!!!!!!!!! Ultra wichtig
 
 int main(){
-    led0 = 1;
 
     enable = 1;
     enableMotorDriver = 1;                                               // Schaltet den Leistungstreiber ein
     
     while(1) {
-         
-         if (button == 1){
-            temp = 0;
-            ende = 0;
-            skip = 0;
-            }
+
         
-        if(button != linksLast){                                       // Zustand button speichern
+        if(button == linksLast){
              links = 1;
+             linksLast = links;
              } else { links = 0;
              }
-        linksLast = button;
-        
-        if ((links == 0) && (skip == 0)){
-            ledRechtsAktiv = 1;
-            ledLinksAktiv = 0;
-            wait (2);
-            skip = 1;
-            } else { if ((links == 1) && ( skip == 0)){
-                ledLinksAktiv = 1;
-                ledRechtsAktiv = 0;
-                wait (2);
-                skip = 1;
-                }
-            }
+
                                                                          // IR Sensoren einlesen
         float disR = iRSensor.readR(); // Distanz in mm
         float disL = iRSensor.readL();
@@ -117,6 +100,21 @@
         int IrF = iRSensor.codeF();
         ende = iRSensor.get_ende();     // Line erkennt = 1
 
+         BL = button;
+         if (button == 0){
+            temp = 0;
+            ende = 0;
+            skip = 0;
+            }
+            
+            if ((links == 0) && (skip == 0)){
+            wait (1);
+            skip = 1;
+            } else { if ((links == 1) && ( skip == 0)){
+                wait (1);
+                skip = 1;
+                }
+            }
 
    
    /* printf (" ende = %d\n",ende); 
@@ -128,7 +126,8 @@
         printf("IR Left = %d\n",IrL);
         printf("IR Front = %d\n",IrF);*/
         
-    while ((links == 0) && (skip == 1)){                                                          // State machine für methode Rechts
+    switch(links) {
+         case 0:                                                           // State machine für methode Rechts
          if((IrR==0) && (IrL==0) && (IrF==1) && (ende == 0)){
         caseDrive = 2;                                                          
         }   else  if ((IrR==0) && (IrL==1) && (IrF==0) && (ende == 0)){
@@ -148,8 +147,9 @@
         temp = 1;
         } else {caseDrive = 0;                                                  
         }
-    }
-    while ((links == 1) && (skip == 1)){                                                        //State Machine für Methode Links
+        break;
+        
+        case 1:                                                   //State Machine für Methode Links
         if((IrR==0) && (IrL==0) && (IrF==0) && (ende == 0)){
         caseDrive = 3;                                                          
         }   else  if ((IrR==1) && (IrL==0) && (IrF==0) && (ende == 0)){
@@ -160,7 +160,7 @@
         caseDrive = 1;                                                          
         }   else  if ((IrR==0) && (IrL==0) && (IrF==1) && (ende == 0)){
         caseDrive = 3;                                                          
-        }   else  if ((IrR==1) && (IrL==0)&& (IrF==1)&& (ende == 0)){
+        }   else  if ((IrR==1) && (IrL==0)&& (IrF==1) && (ende == 0)){
         caseDrive = 3;                                                         
         }   else  if ((IrR==0)&& (IrL==1) && (IrF==1) && (ende == 0)){
         caseDrive = 2;
@@ -174,8 +174,7 @@
     }
 
 
-      //  printf("caseDrive = %d\n",caseDrive);
-        //printf("ende = %d\n",ende);
+        printf("ende = %d\n",ende);
 
         wait (0.01);