Revision 0:688028485205, committed 2016-06-14

Comitter:

manuelschnider

Date:

Tue Jun 14 10:51:28 2016 +0000

Commit message:

zz

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BertlLib.lib	Tue Jun 14 10:51:28 2016 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/hollegha2/code/BertlLib/#78243412d2b3

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BtnEventM0.h	Tue Jun 14 10:51:28 2016 +0000
@@ -0,0 +1,146 @@
+
+
+class BtnEventM0
+{
+public:
+    int16_t pressed;
+
+    BtnEventM0(PinName pin) : _isr(pin) {
+        pressed=0;
+    }
+
+    // Ist eine steigende Flanke aufgetreten ?
+    int CheckFlag() {
+        if( pressed ) {
+            pressed=0;
+            return 1;
+        }
+        return 0;
+    }
+
+    // 1..Button is pressed  else 0
+    int CheckButton() {
+        return _isr.read();
+    }
+
+    void Init() {
+        _isr.rise(this, &BtnEventM0::RisingISR);
+    }
+
+    void RisingISR() {
+        if( _isr.read() )
+            pressed = 1;
+    }
+protected:
+    InterruptIn _isr;
+};
+
+/*
+class BtnEventM02 : public BtnEventM0
+{
+public:
+    BtnEventM02(PinName pin) : BtnEventM0(pin) {
+        _tm.stop();
+        _tm.reset();
+        _state=1;
+    }
+
+    void Init() {
+        _isr.rise(this, &BtnEventM02::RisingISR);
+    }
+
+    void RisingISR() {
+        if( !_isr.read() )
+            return;
+        pressed = 1;
+        _tm.start();
+        _state = 2;
+    }
+
+    void CheckButton() {
+        if( _state==1 )
+            return;
+        if( _state==2 ) {
+            if( !_isr.read() ) {
+                _state = 1;
+                return;
+            }
+            if( _tm.read_ms()>500 ) {
+                _tm.reset();
+                _state = 3;
+                pressed = 1;
+            }
+        } else if( _state==3 ) {
+            if( !_isr.read() ) {
+                _state = 1;
+                return;
+            }
+            if( _tm.read_ms()>100 ) {
+                _tm.reset();
+                _state = 3;
+                pressed = 1;
+            }
+        }
+    }
+private:
+    int16_t _state;
+    Timer _tm;
+};
+*/
+
+class AnalogInHL : public AnalogIn
+{
+public:
+    AnalogInHL(PinName pin) : AnalogIn(pin) { }
+    int Read() {
+        return read_u16()>>6;
+    }
+};
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 14 10:51:28 2016 +0000
@@ -0,0 +1,119 @@
+
+#include "mbed.h"
+#include "Serial_HL.h"
+#include "Bertl14.h"
+#include "BertlObjects.h"
+
+//              main=2^0  LS    ENC 2^2
+BusOut boardPow(p30,      P1_6, P1_7);
+AnalogInHL ls1(p18), ls2(p16), ls3(p19), ls4(p17);
+
+ void BlinkTask1();
+    void BlinkTask2();
+    Timer t1;
+
+    
+    void ForwardUntilWall();
+    void BackwardUntilWall();
+
+int main(void)
+{
+    boardPow=1; wait_ms(10);
+    InitBertl();
+    pex.useISR=0; leds=9;
+    pex.ClearLeds();
+    pex.WaitUntilFrontButtonPressed();
+   
+    
+    t1.start();
+    //nur zum testen
+    mL.SetPow(0.3); mR.SetPow(0.3);
+    
+    //Bertl-PingPong
+    while(1)
+    {
+     ForwardUntilWall();
+     BackwardUntilWall();
+    }
+    
+    return 1;
+}
+
+//Erweiterung:
+//  -Beim Vorwärtsfahren vorne blinken 
+//  -Beim Rückwärtsfahren hinten blinken
+
+//  pex.ToggleLeds(uintB_T aBitPattern); zum blinken
+
+
+
+void ForwardUntilWall()
+{
+    //motoren auf vorwärts
+     
+     //warten bis irgendein Frontbutton pressed#
+     while(1)
+  {
+    
+     if(ls4>600)
+     {
+     mL.SetPow(0); mR.SetPow(0);
+     //wait(100);
+     mL.SetPow(-0.3); mR.SetPow(-0.3);
+     
+     //BlinkTask1();
+     
+     }
+     break;
+     }
+}
+
+void BackwardUntilWall()
+{
+    //motoren auf rückwärts
+    
+    //warten bis irgendein BackButtonPressen
+    while(1)
+  {
+    
+    if(ls1>600)
+    {
+    mL.SetPow(0); mR.SetPow(0);
+     //wait(100);
+     mL.SetPow(0.3); mR.SetPow(0.3);
+     
+     //BlinkTask2();
+    }
+    break;
+    }
+    // while SChleife
+    // motoren aus    
+}
+
+
+
+void BlinkTask1()
+{
+  if( t1.read_ms()>25 ) { // 100ms sind abgelaufen
+    t1.reset();
+    pex.ToggleLeds(LED_FL1|LED_FL2);
+  }
+}
+
+void BlinkTask2()
+{
+  if( t1.read_ms()>25 ) { // 100ms sind abgelaufen
+    t1.reset();
+    pex.ToggleLeds(LED_BL1|LED_BL2);
+  }
+}
+
+
+
+
+
+
+
+
+
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Jun 14 10:51:28 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/aae6fcc7d9bb
\ No newline at end of file