Roboshark
/
Roboshark_V10
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Dependencies: mbed
Fork of
Roboshark_V9
by 
Roboshark
Diff: main.cpp
- Revision:
- 14:feafcee53fed
- Parent:
- 10:fb2195d0de0f
- Child:
- 15:8e8b23d4abb4
diff -r 1687f97d4d82 -r feafcee53fed main.cpp
--- a/main.cpp Wed May 09 17:08:24 2018 +0000
+++ b/main.cpp Mon May 14 22:11:47 2018 +0000
@@ -1,9 +1,9 @@
-/*Roboshark V7
+/*Roboshark V10
main.cpp
Erstellt: J. Blunschi
geändert: V.Ahlers
V.5.18
-main zu Robishark V4
+main zu Robishark
*/
@@ -16,22 +16,24 @@
DigitalOut myled(LED1);
-DigitalOut led0(PC_8);
-DigitalOut led1(PC_6);
-DigitalOut led2(PB_12);
+DigitalOut led0(PC_8); //Ready
+DigitalOut ledLinksAktiv(PC_6); // Links Aktiv
+DigitalOut ledRechtsAktiv(PB_12); // Rechts Aktiv
DigitalOut led3(PA_7);
DigitalOut led4(PC_0);
DigitalOut led5(PC_9);
-AnalogIn LineSensor(PB_1); // Line Sensor
DigitalOut enable(PC_1);
DigitalOut bit0(PH_1);
DigitalOut bit1(PC_2);
DigitalOut bit2(PC_3);
-AnalogIn IrRight(PC_3); //von main Vincent kopiert
+AnalogIn IrRight(PC_3); // IR Sensoren
AnalogIn IrLeft (PC_5);
AnalogIn IrFront(PC_2);
+AnalogIn LineSensor(PB_1); // Line Sensor
+DigitalIn button (USER_BUTTON); //Auswählen ob Rechts oder Links methode
+
float disR = 0;
float disL = 0;
float disF = 0;
@@ -50,7 +52,9 @@
int temp = 0;
float SpeedR = 0;
float SpeedL = 0;
-int reglerEin = 0;
+int links = 0;
+int linksLast = 0;
+int skip = 0;
//von main Vincent kopiert
DigitalOut enableMotorDriver(PB_2);
@@ -69,15 +73,38 @@
Fahren fahren(controller, counterLeft, counterRight, iRSensor); //Reihenfolge!!!!!!!!!!!!!!!!!!! Ultra wichtig
-int main()
-{
+int main(){
+ led0 = 1;
- //controller.setDesiredSpeedLeft(150.0f); // Drehzahl in [rpm] //DEFAULT VON TOBI
- //controller.setDesiredSpeedRight(-150.0f); //DEFAULT VON TOBI
enable = 1;
- enableMotorDriver = 1; // Schaltet den Leistungstreiber ein
+ enableMotorDriver = 1; // Schaltet den Leistungstreiber ein
+
while(1) {
-
+
+ if (button == 1){
+ temp = 0;
+ ende = 0;
+ skip = 0;
+ }
+
+ if(button != linksLast){ // Zustand button speichern
+ links = 1;
+ } 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();
@@ -101,25 +128,51 @@
printf("IR Left = %d\n",IrL);
printf("IR Front = %d\n",IrF);*/
+ while ((links == 0) && (skip == 1)){ // State machine für methode Rechts
if((IrR==0) && (IrL==0) && (IrF==1) && (ende == 0)){
- caseDrive = 2; // Folge: 90 Grad nach rechts drehen
+ caseDrive = 2;
} else if ((IrR==0) && (IrL==1) && (IrF==0) && (ende == 0)){
- caseDrive = 2; // Folge: 90 Grad nach rechts drehen
+ caseDrive = 2;
} else if ((IrR==0) && (IrL==1) && (IrF==1) && (ende == 0)){
- caseDrive = 2; // Folge: 90 Grad nach rechts drehen
+ caseDrive = 2;
} else if ((IrR==1) && (IrL==0) && (IrF==0) && (ende == 0)){
- caseDrive = 1; // Folge: geradeaus fahren
+ caseDrive = 1;
} else if ((IrR==1) && (IrL==0) && (IrF==1) && (ende == 0)){
- caseDrive = 3; // Folge: 90 Grad nach Links drehen
+ caseDrive = 3;
} else if ((IrR==1) && (IrL==1) && (IrF==0) && (ende == 0)){
- caseDrive = 1; // Folge: geradeaus fahren
+ caseDrive = 1;
} else if ((IrR==1) && (IrL==1) && (IrF==1) && (ende == 0)){
- caseDrive = 4; // Folge: 180 Grad nach rechts drehen
+ caseDrive = 4;
} else if ((ende == 1) && (temp == 0)){
- caseDrive = 5; // Folge: Ziel erreicht
+ caseDrive = 5;
temp = 1;
- } else {caseDrive = 0; // Folge; Stop
+ } else {caseDrive = 0;
}
+ }
+ while ((links == 1) && (skip == 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)){
+ caseDrive = 3;
+ } else if ((IrR==0) && (IrL==1) && (IrF==0) && (ende == 0)){
+ caseDrive = 1;
+ } else if ((IrR==1) && (IrL==1) && (IrF==0) && (ende == 0)){
+ caseDrive = 1;
+ } else if ((IrR==0) && (IrL==0) && (IrF==1) && (ende == 0)){
+ caseDrive = 3;
+ } else if ((IrR==1) && (IrL==0)&& (IrF==1)&& (ende == 0)){
+ caseDrive = 3;
+ } else if ((IrR==0)&& (IrL==1) && (IrF==1) && (ende == 0)){
+ caseDrive = 2;
+ } else if ((IrR==1)&& (IrL==1) && (IrF==1) && (ende == 0)){
+ caseDrive = 4;
+ } else if ((ende == 1) && (temp == 0)){
+ caseDrive = 5;
+ temp = 1;
+ } else {caseDrive = 0;
+ }
+ }
+
// printf("caseDrive = %d\n",caseDrive);
//printf("ende = %d\n",ende);