Diff: main.cpp

Revision:

0:70d06581738c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 02 16:44:01 2017 +0000
@@ -0,0 +1,121 @@
+#include "mbed.h"
+
+Serial bt(USBTX, USBRX);
+
+AnalogIn linksvoor(A0);
+AnalogIn rechtsvoor(A1);
+AnalogIn linksachter(A2);
+AnalogIn rechtsachter(A3);
+AnalogIn afstand(A4);
+
+DigitalOut steppulse(D9);
+DigitalOut enable(D10);
+DigitalIn button(D8);
+DigitalOut led(D11);
+
+PwmOut motorlfwd(D2);
+PwmOut motorlrwd(D3);
+PwmOut motorrfwd(D6);
+PwmOut motorrrwd(D7);
+
+Ticker stepperspeed;
+Ticker stepperspeed;
+
+
+int pos;
+bool robotrun;
+bool object;
+int radarspeedsetleft;
+int radarspeedsetright;
+bool lijnfl;
+bool lijnfr;
+bool lijnrl;
+bool lijnrr;
+
+void Hbrug(float left, float right)
+{
+    if (left > 0) {
+        motorlrwd = 0;
+        motorlfwd = left;
+    } else if(left < 0) {
+        motorlfwd = 0;
+        motorlrwd = left*-1;
+    } else {
+        motorlrwd = 0;
+        motorlfwd = 0;
+    }
+    if (right > 0) {
+        motorrrwd = 0;
+        motorrfwd = right;
+    } else if(right < 0) {
+        motorrfwd = 0;
+        motorrrwd = right*-1;
+    } else {
+        motorrrwd = 0;
+        motorrfwd = 0;
+    }
+}
+void radar()
+{
+    float distance;
+    distance = afstand;
+    if (distance < 0.2) {
+        object = 1;
+    } else {
+        object = 0;
+    }
+}
+void stepper()
+{
+    if (robotrun == 1) {
+        steppulse = !steppulse;
+        pos ++;
+        if (pos>2080) {
+            pos = 0;
+        }
+    }
+}
+void lijnsensor()
+{
+    float a= linksvoor;
+    float b= rechtsvoor;
+    float c= linksachter;
+    float d= rechtsachter;
+    if (a < 0.5) {
+        lijnfl = 1;
+    } else {
+        lijnfl = 0;
+    }
+    if (b < 0.5) {
+        lijnfl = 1;
+    } else {
+        lijnfl = 0;
+    }
+    if (c < 0.5) {
+        lijnfl = 1;
+    } else {
+        lijnfl = 0;
+    }
+    if (d < 0.5) {
+        lijnfl = 1;
+    } else {
+        lijnfl = 0;
+    }
+}
+int main ()
+{
+    enable = 0;
+    while (1) {
+if (robotrun == 1){
+    if (lijnfl ==1){
+        Hbrug(-1,-0.5);
+        }
+        else if (lijnfl ==1){
+        Hbrug(-1,-0.5);
+        }
+    }
+    else {
+        Hbrug(0,0);
+        }
+    }
+}
\ No newline at end of file