Cases eingefügt
Dependencies: mbed
main.cpp
- Committer:
- Jacqueline
- Date:
- 2018-04-16
- Revision:
- 0:e611a0b9f02a
- Child:
- 2:a227732e1412
File content as of revision 0:e611a0b9f02a:
#include <mbed.h> #include "EncoderCounter.h" #include "Controller.h" #include "IRSensor.h" 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); 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); DigitalOut enableMotorDriver(PB_2); DigitalIn motorDriverFault(PB_14); DigitalIn motorDriverWarning(PB_15); PwmOut pwmLeft(PA_8); PwmOut pwmRight(PA_9); EncoderCounter counterLeft(PB_6, PB_7); EncoderCounter counterRight(PA_6, PC_7); Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); int main() { controller.setDesiredSpeedLeft(150.0f); // Drehzahl in [rpm] controller.setDesiredSpeedRight(-150.0f); enable = 1; enableMotorDriver = 1; // Schaltet den Leistungstreiber ein while(1) { myled =! myled; if (irSensor0.read() < 0.2f) led0 = 1; else led0 = 0; if (irSensor1.read() < 0.2f) led1 = 1; else led1 = 0; if (irSensor2.read() < 0.2f) led2 = 1; else led2 = 0; if (irSensor3.read() < 0.2f) led3 = 1; else led3 = 0; if (irSensor4.read() < 0.2f) led4 = 1; else led4 = 0; 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())); wait(0.2f); // 100 ms } }