Roboshark
/
Roboshark_V10
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Dependencies: mbed
Fork of
Roboshark_V9
by 
Roboshark
Revision 15:8e8b23d4abb4, committed 2018-05-15
- Comitter:
- ahlervin
- Date:
- Tue May 15 21:50:26 2018 +0000
- Parent:
- 14:feafcee53fed
- Commit message:
- mit Links Hand Methode
Changed in this revision
--- a/Fahren.cpp Mon May 14 22:11:47 2018 +0000
+++ b/Fahren.cpp Tue May 15 21:50:26 2018 +0000
@@ -17,8 +17,8 @@
//Konstruktor
Fahren::Fahren(Controller& controller, EncoderCounter& counterLeft, EncoderCounter& counterRight, IRSensor& iRSensor):
controller(controller), counterLeft(counterLeft), counterRight(counterRight), iRSensor (iRSensor){
-SpeedR = 120.0f; //120
-SpeedL = 120.0f; //120
+SpeedR = 90.0f; //120
+SpeedL = 90.0f; //120
disF = 0.0f;
//ticker.attach(callback(this, &Fahren::reset), PERIOD);
}
@@ -50,13 +50,13 @@
reglerEinL = 1;
while(1){
- float diff = (iRSensor.readR() - iRSensor.readL())*0.81f; //Regler 0.81
- if(iRSensor.readR()>80.0f) diff=0;
- if(iRSensor.readL()>80.0f) diff=0;
+ float diff = (iRSensor.readR() - iRSensor.readL())*0.95f; //Regler 0.81
+ if(iRSensor.readR()>80.0f) diff= 0;
+ if(iRSensor.readL()>80.0f) diff= 0;
//printf("diff =%f \n",diff);
controller.setDesiredSpeedRight(SpeedR+diff);
controller.setDesiredSpeedLeft(-(SpeedL-diff));
-
+ printf("diff = %f\n",diff);
wait(0.02); //0.02
// printf("Encoderrechts %d \n\r", counterRight.read()); //Debugging Zweck (Putty benutzen!)
--- a/IRSensor.cpp Mon May 14 22:11:47 2018 +0000
+++ b/IRSensor.cpp Tue May 15 21:50:26 2018 +0000
@@ -37,8 +37,8 @@
-IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor) :
-IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F), LineSensor(LineSensor){
+IRSensor::IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor, DigitalIn& button) :
+IrRight(IrRight), IrLeft(IrLeft), IrFront(IrFront), dis2R(dis2R), dis2L(dis2L), dis2F(dis2F), LineSensor(LineSensor), button(button){
ticker.attach(callback(this, &IRSensor::codeB), Period);
this-> ende = ende;
ende = 0;
@@ -124,7 +124,15 @@
if (line == 1) {
ende = 1;
}
+ if (button == 0){
+ ende = 0;
+ finish = 0;
+ finishLast = 0;
+}
finishLast = finish;
+
+ /// printf("Ende = %d\n",ende);
+ // printf("BL = %d\n",button);
return;
}
--- a/IRSensor.h Mon May 14 22:11:47 2018 +0000
+++ b/IRSensor.h Tue May 15 21:50:26 2018 +0000
@@ -15,7 +15,7 @@
class IRSensor {
public:
- IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor);
+ IRSensor(AnalogIn& IrRight, AnalogIn& IrLeft, AnalogIn& IrFront, float dis2R, float dis2L, float dis2F, AnalogIn& LineSensor, DigitalIn& button);
float disR;
float disL;
@@ -45,9 +45,11 @@
AnalogIn& IrLeft;
AnalogIn& IrFront;
AnalogIn& LineSensor;
+ DigitalIn button;
float dis2R;
float dis2L;
float dis2F;
+ int BL;
int roundL;
int roundR;
int roundF;
--- 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);