Diff: main.cpp

Revision:

0:a8e2201d9c4d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Jun 14 11:15:13 2016 +0000
@@ -0,0 +1,44 @@
+#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(p20), ls4(p19),ls5(p17);
+ 
+
+int main(void)
+{
+    boardPow=3;
+    
+    pex.WaitUntilFrontButtonPressed();
+    mL.SetPow(0.3); mR.SetPow(0.3);
+    
+    while(1)
+    {
+        if(ls1.Read()>600&&ls5.Read()<600)
+        {
+        mL.SetPow(-0.3); mR.SetPow(0.3);
+        }
+        if(ls5.Read()>600&&ls1.Read()<600)
+        {
+        mL.SetPow(0.3); mR.SetPow(-0.3);
+        }
+        if(ls5.Read()<600&&ls1.Read()<600&&ls3.Read()>600)
+        {
+        mL.SetPow(0.3); mR.SetPow(0.3);
+        }
+        if(ls5.Read()<400&&ls1.Read()<400&&ls3.Read()<400&&ls2.Read()<400&&ls4.Read()<500)
+        {
+         wait(0.07);
+         if(ls5.Read()<400&&ls1.Read()<400&&ls3.Read()<400&&ls2.Read()<400&&ls4.Read()<500)
+        {
+         mL.SetPow(0); mR.SetPow(0);   
+            wait(2);
+        mL.SetPow(-0.3); mR.SetPow(0.3);
+        wait(0.7);
+        }
+        }
+    } 
+}
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