Diff: main.cpp

Revision:

0:e611a0b9f02a

Child:

2:a227732e1412

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 16 13:29:27 2018 +0000
@@ -0,0 +1,77 @@
+#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
+        
+    }
+}