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Dependencies:   mbed

TechMoveDXC.cpp@2:a12d19da681a, 2015-04-17 (annotated)

Committer:
IKn0Ww
Date:
Fri Apr 17 20:52:22 2015 +0000
Revision:
2:a12d19da681a
Parent:
1:685f9717028d
Child:
3:381aaa338447
nieuwste versie met de straight line stand.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IKn0Ww 0:6082686b6a61 1 #include "mbed.h"
IKn0Ww 0:6082686b6a61 2
IKn0Ww 1:685f9717028d 3 DigitalIn K1 (dp25); //Keuzeschakelaar stand 1: Sumo.
IKn0Ww 1:685f9717028d 4 DigitalIn K2 (dp16); //Keuzeschakelaar stand 2: Straight line.
IKn0Ww 1:685f9717028d 5 DigitalIn K3 (dp26); //Keuzeschakelaar stand 3: Service.
IKn0Ww 1:685f9717028d 6
IKn0Ww 1:685f9717028d 7 AnalogIn SLV (dp9); //Sensor links voor.
IKn0Ww 1:685f9717028d 8 AnalogIn SRV (dp10); //Sensor rechts voor.
IKn0Ww 1:685f9717028d 9 AnalogIn SLA (dp11); //Sensor links achter.
IKn0Ww 1:685f9717028d 10 AnalogIn SRA (dp13); //Sensor rechts achter.
IKn0Ww 1:685f9717028d 11
IKn0Ww 1:685f9717028d 12 DigitalOut MLL (dp5); //Draairichting linker motor linksom.
IKn0Ww 1:685f9717028d 13 DigitalOut MLR (dp6); //Draairichting linker motor rechtsom.
IKn0Ww 1:685f9717028d 14 DigitalOut MRL (dp1); //Draairichting rechter motor linksom.
IKn0Ww 1:685f9717028d 15 DigitalOut MRR (dp24); //Draairichting rechter motor rechtsom.
IKn0Ww 1:685f9717028d 16 DigitalOut LED (dp28); //Indicatie LED.
IKn0Ww 1:685f9717028d 17
IKn0Ww 1:685f9717028d 18 PwmOut ML (dp18); //PWM-signaal voor de linker motor.
IKn0Ww 1:685f9717028d 19 PwmOut MR (dp2); //PWM-signaal voor de rechter motor.
IKn0Ww 1:685f9717028d 20
IKn0Ww 1:685f9717028d 21 int main()
IKn0Ww 1:685f9717028d 22 {
IKn0Ww 2:a12d19da681a 23 int n = 0; //Variabel voor de straight line stand.
IKn0Ww 2:a12d19da681a 24 MLL = false;
IKn0Ww 2:a12d19da681a 25 MLR = false;
IKn0Ww 2:a12d19da681a 26 MRL = false;
IKn0Ww 2:a12d19da681a 27 MRR = false;
IKn0Ww 2:a12d19da681a 28 LED = false;
IKn0Ww 2:a12d19da681a 29 MR = 0;
IKn0Ww 2:a12d19da681a 30 ML = 0;
IKn0Ww 2:a12d19da681a 31 while (K1) //Sumo stand.
IKn0Ww 2:a12d19da681a 32 {
IKn0Ww 2:a12d19da681a 33 n = 0;
IKn0Ww 2:a12d19da681a 34 }
IKn0Ww 2:a12d19da681a 35 while (K2) //Straight line stand.
IKn0Ww 2:a12d19da681a 36 {
IKn0Ww 2:a12d19da681a 37 LED = !LED;
IKn0Ww 2:a12d19da681a 38 n += 1;
IKn0Ww 2:a12d19da681a 39 if (n == 6)
IKn0Ww 2:a12d19da681a 40 {
IKn0Ww 2:a12d19da681a 41 LED = true;
IKn0Ww 2:a12d19da681a 42 MLR = true;
IKn0Ww 2:a12d19da681a 43 MRR = true;
IKn0Ww 2:a12d19da681a 44 MR = 1.0;
IKn0Ww 2:a12d19da681a 45 ML = 1.0;
IKn0Ww 2:a12d19da681a 46 wait (5.0); //Tijd van het rijden.
IKn0Ww 2:a12d19da681a 47 MLR = false;
IKn0Ww 2:a12d19da681a 48 MRR = false;
IKn0Ww 2:a12d19da681a 49 MR = 0;
IKn0Ww 2:a12d19da681a 50 ML = 0;
IKn0Ww 2:a12d19da681a 51 }
IKn0Ww 2:a12d19da681a 52 wait (0.5);
IKn0Ww 2:a12d19da681a 53
IKn0Ww 2:a12d19da681a 54 }
IKn0Ww 2:a12d19da681a 55 while (K3) //Service stand.
IKn0Ww 2:a12d19da681a 56 {
IKn0Ww 2:a12d19da681a 57 n = 0;
IKn0Ww 2:a12d19da681a 58 }
IKn0Ww 1:685f9717028d 59 }