V.A.M.P.I.R.E. robotics
Dependencies: mbed
Revision 0:04038e713693, committed 2016-11-27
- Comitter:
- ladner
- Date:
- Sun Nov 27 15:51:32 2016 +0000
- Commit message:
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r 04038e713693 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Nov 27 15:51:32 2016 +0000
@@ -0,0 +1,88 @@
+#include "mbed.h"
+
+BusOut myled(LED1,LED2,LED3,LED4);
+I2C i2c(p28, p27);
+DigitalOut von(p30);
+
+PwmOut L_EN(P1_15);//1 (p34)
+DigitalOut L_FW(P1_0);
+DigitalOut L_RV(P1_1);
+PwmOut R_EN(P0_21);//2 (p36)
+DigitalOut R_FW(P1_3);
+DigitalOut R_RV(P1_4);
+
+BusOut rgb(p25,p26,p14);
+
+DigitalOut online(P1_6);
+/*
+AnalogIn line1(p18);
+AnalogIn line2(p16);
+AnalogIn line3(p20);
+AnalogIn line4(p19);
+AnalogIn line5(p17);
+*/
+BusIn myline(p18,p16,p19,p17);
+DigitalIn linecenter(p20);
+
+
+//Nicht alles kann pwm!
+//https://developer.mbed.org/handbook/PwmOut
+
+int main()
+{
+ rgb=7;
+ wait(0.2);
+ for(char i=0;i<4;i++)
+ {
+ myled=1<<i;
+ wait(0.2);
+ }
+ myled = 0;
+ von=1;
+ online = 1;
+ rgb=0;
+ R_FW=L_FW=1;
+ //R_EN=L_EN=1;
+ while(1)
+ {
+ /*
+ char data;
+ i2c.start();
+ i2c.write(0x40);
+ i2c.write(0x01);
+ i2c.start();
+ i2c.write(0x41);
+ data = i2c.read(0);
+ i2c.stop();
+
+
+ i2c.start();
+ i2c.write(0x40);
+ i2c.write(0x02);
+ i2c.write(0xF);
+ i2c.stop();
+ */
+ if(linecenter||myline)
+ {
+ if(myline&0x3)
+ L_EN=0;
+ else
+ L_EN=1;
+ if(myline&0xc)
+ R_EN=0;
+ else
+ R_EN=1;
+ }
+ else
+ {
+ R_FW=L_FW=0;
+ R_RV=L_RV=1;
+ wait(0.1);
+ R_EN=L_EN=0;
+ R_FW=L_FW=1;
+ R_RV=L_RV=0;
+ while(!(linecenter||myline));
+ }
+
+ }
+}
diff -r 000000000000 -r 04038e713693 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sun Nov 27 15:51:32 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/d75b3fe1f5cb \ No newline at end of file