dreamworld
afg
Revision 0:66569508393e, committed 2018-03-09
- Comitter:
- opplichr
- Date:
- Fri Mar 09 15:53:48 2018 +0000
- Commit message:
- sadgt;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Libary.lib Fri Mar 09 15:53:48 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/teams/dreamworld/code/Libary/#ffcaa578c2df
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 09 15:53:48 2018 +0000
@@ -0,0 +1,124 @@
+#include "mbed.h"
+#include "IRSensor.h"
+#include "EncoderCounter.h"
+#include "LowpassFilter.h"
+#include "Controller.h"
+#include "Motion.h"
+
+//Serial
+Serial pc(USBTX, USBRX);
+AnalogIn distance(PB_1); // Kreieren der Ein- und Ausgangsobjekte
+DigitalOut enable(PC_1);
+DigitalOut bit0(PH_1);
+DigitalOut bit1(PC_2);
+DigitalOut bit2(PC_3);
+
+//LED
+DigitalOut led0(PC_8);
+DigitalOut led1(PC_6);
+DigitalOut led2(PB_12);
+DigitalOut led3(PA_7);
+DigitalOut led4(PC_0);
+DigitalOut led5(PC_9);
+
+//Ansteuerung
+DigitalOut enableMotorDriver(PB_2);
+DigitalIn motorDriverFault(PB_14);
+DigitalIn motorDriverWarning(PB_15);
+PwmOut pwmLeft(PA_8);
+PwmOut pwmRight(PA_9);
+
+DigitalIn Button(USER_BUTTON);
+
+
+
+int main() {
+ //Entcoder
+ EncoderCounter counterLeft(PB_6, PB_7);
+ EncoderCounter counterRight(PA_6, PC_7);
+ Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
+ int init=0;
+int state=1;
+
+ while(1) {
+
+ 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);
+ // Objekte kreieren
+ enable = 1;
+ float distance0 = irSensor0.read();
+ float distance1 = irSensor1.read();
+ float distance2 = irSensor2.read();
+ float distance3 = irSensor3.read();
+ float distance4 = irSensor4.read();
+ float distance5 = irSensor5.read();
+
+ switch (state){
+ case 1:
+ enableMotorDriver = 0; // Schaltet den Leistungstreiber aus
+
+ if (Button==0){
+ enableMotorDriver = 1; state=2;
+ }
+ //if (init==1){enableMotorDriver = 0; state=2;}
+
+ break;
+ case 2:
+ controller.setTranslationalVelocity(-5);
+ if (distance3 <= 0.2){
+ state=6;
+ }
+ if (Button==0){
+ state=5;
+ }
+ if (distance4 <=0.2){
+ state=4;
+ controller.setTranslationalVelocity(0);
+ }
+ if (distance2 <=0.2){
+ state=3;
+ controller.setTranslationalVelocity(0);
+ }
+ break;
+ case 3:
+ controller.setRotationalVelocity(-0.1);
+ if (Button==0){
+ state=5;controller.setRotationalVelocity(0);
+ }
+
+ if (distance2 <=0.2){
+ state=3;
+ }else { controller.setRotationalVelocity(0); state=2;}
+ break;
+ case 4:
+ controller.setRotationalVelocity(0.1);
+ if (Button==0){
+ state=5;controller.setRotationalVelocity(0);
+ }
+ if (distance4 <=0.2){
+ state=4;
+ } else { controller.setRotationalVelocity(0); state=2;}
+
+ break;
+ case 5:
+ controller.setTranslationalVelocity(0);
+ state=1;
+ break;
+ case 6:
+ controller.setTranslationalVelocity(5);
+ wait(1);
+ controller.setTranslationalVelocity(0);
+ controller.setRotationalVelocity(0.1);
+ wait(0.2);
+ controller.setRotationalVelocity(0);
+ state =2;
+ break;
+ }
+
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 09 15:53:48 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/aa5281ff4a02 \ No newline at end of file