![](/media/cache/group/218.jpg.50x50_q85.jpg)
jh
Dependencies: mbed
main.cpp
- Committer:
- joosthartkamp
- Date:
- 2017-06-02
- Revision:
- 0:70d06581738c
File content as of revision 0:70d06581738c:
#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); } } }