mmotor
/
MarsRover_ExoMars
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Dependencies: EPOS2 mbed-rtos mbed
Fork of
Projekt_Kugelbahn
by 
mmotor
Diff: main.cpp
- Revision:
- 8:98d4028cdea6
- Parent:
- 7:44f2f9fd2eeb
- Child:
- 9:039318b9096e
--- a/main.cpp Fri Oct 14 08:33:11 2016 +0000
+++ b/main.cpp Fri Oct 14 11:17:52 2016 +0000
@@ -63,7 +63,7 @@
led1 = 1;
pc.baud(9600);
- buffering.rise(&interrupt_usv);
+ buffering.rise(&interrupt_usv); //Interrupt für USV
wait(0.5); //Wartezeit bis Epos2 70/10 aufgestartet ist
led2 = 1;
@@ -103,6 +103,7 @@
led2 = 0;
led3 = 0;
led4 = 0;
+ MyEpos5.SetDigOut(4, 1);
/* mySwitch1.mode(PullUp);
mySwitch2.mode(PullUp);
@@ -218,16 +219,16 @@
wait(0.1);
MyEpos5.Power(0);
}
-
-
-
+
led1 = 0;
break;
case 2://BEREIT:
led2 = 1;
+ MyEpos5.SetDigOut(4,0);
if (MyEpos5.GetDigIn(3) == 1){
+ MyEpos5.SetDigOut(4,1);
current_step = 6;
wait_ms(10);
MyEpos1.Power(1);
@@ -302,6 +303,7 @@
*/
case 5://USV:
led4 = 1;
+ MyEpos5.SetDigOut(4,1);
switch (usv_step){
case 1:
wait(0.1);
@@ -315,11 +317,11 @@
wait(1);
*/
if (node1_homed == true){
- MyEpos1.MoveAbsolute(0,500,500,500); //Panel_Aussen_Links
+ MyEpos1.MoveAbsolute(2000,500,500,500); //Panel_Aussen_Links
wait(0.1);
}
if (node3_homed == true){
- MyEpos3.MoveAbsolute(0,500,500,500); //Panel_Aussen_Rechts
+ MyEpos3.MoveAbsolute(-2000,500,500,500); //Panel_Aussen_Rechts
wait(0.1);
}
/* if (node7_homed == true){
@@ -327,15 +329,16 @@
wait(0.1);
}
*/ wait(0.1);
- usv_step = 2;
+ if (MyEpos1.TargetReached()==1 and MyEpos3.TargetReached()==1){
+ usv_step = 2;
+ }
break;
case 2:
- if (node2_homed == true and MyEpos1.TargetReached()==1){
- wait(1);
+ MyEpos1.MoveAbsolute(0,500,100,100); //Panel Aussen Links
+ MyEpos3.MoveAbsolute(0,500,100,100); //Panel Aussen Rechts
MyEpos2.MoveAbsolute(0,500,500,500); //Panel_Innen_Links
- wait_ms(10);
- }
+ wait(0.1);
/* if (node4_homed == true and MyEpos3.TargetReached()==1){
wait(1);
MyEpos4.MoveAbsolute(0,500,500,500); //Panel_Innen_Links
@@ -362,17 +365,14 @@
break;
case 4:
- /*while (MyEpos5.TargetReached()==0){
- wait_ms(10);
- }*/
- MyEpos1.Power(0);
- MyEpos2.Power(0);
- MyEpos3.Power(0);
- MyEpos4.Power(0);
- MyEpos5.Power(0);
- MyEpos6.Power(0);
- MyEpos7.Power(0);
- usv_step = 5;
+ MyEpos1.Power(0);
+ MyEpos2.Power(0);
+ MyEpos3.Power(0);
+ MyEpos4.Power(0);
+ MyEpos5.Power(0);
+ MyEpos6.Power(0);
+ MyEpos7.Power(0);
+ usv_step = 5;
break;
case 5:
@@ -441,8 +441,8 @@
ausfahren_step = 1;
switch (einfahren_step){
case 1:
- MyEpos1.MoveAbsolute(1000,500,100,100); //Panel Aussen Links
- MyEpos3.MoveAbsolute(-1000,500,100,100); //Panel Aussen Rechts
+ MyEpos1.MoveAbsolute(2000,500,100,100); //Panel Aussen Links
+ MyEpos3.MoveAbsolute(-2000,500,100,100); //Panel Aussen Rechts
einfahren_step = 2;
wait(1);
break;
@@ -450,6 +450,8 @@
case 2:
if (MyEpos1.TargetReached()==1 and MyEpos3.TargetReached()==1){
wait(1);
+ MyEpos1.MoveAbsolute(0,500,100,100); //Panel Aussen Links
+ MyEpos3.MoveAbsolute(0,500,100,100); //Panel Aussen Rechts
MyEpos2.MoveAbsolute(0,500,100,100); //Panel Aussen Links
einfahren_step = 3;
wait(1);