Diff: BertlTemplate_Kurven_Fahren.cpp

Revision:

4:260550801324

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BertlTemplate_Kurven_Fahren.cpp	Mon May 02 17:10:27 2016 +0000
@@ -0,0 +1,108 @@
+
+#include "mbed.h"
+#include "Serial_HL.h"
+#include "Bertl14.h"
+#include "BertlObjects.h"
+
+//              main=2^0  LS    ENC 2^2
+BusOut boardPow(p30,      P1_6, P1_7);
+Timer t2, t3;
+//---------------------------------------------------------------
+
+
+
+void LeftCurve()
+{
+    t3.reset();
+    mL.SetPow2(0.2);
+    mR.SetPow2(0.4);
+    while (1) {
+        if(t3.read_ms()>5000)
+            break;
+        if(t2.read_ms()>100)
+         {
+             t2.reset();
+             pex.ToggleLeds(LED_FL1);
+             }
+    }
+    mL.SetPow2(0.0);
+    mR.SetPow2(0.0);
+    pex.ClearLeds();
+}
+
+//---------------------------------------------------------------
+
+void RightCurve()
+{
+    t3.reset();
+    mL.SetPow2(0.4);
+    mR.SetPow2(0.2);
+    while (1) {
+        if(t3.read_ms()>5000)
+            break;
+        if(t2.read_ms()>100)
+         {
+             t2.reset();
+             pex.ToggleLeds(LED_FR1);
+             }
+    }
+    mL.SetPow2(0.0);
+    mR.SetPow2(0.0);
+    pex.ClearLeds();
+}
+
+
+//---------------------------------------------------------------
+void Forward()
+{
+    t3.reset();
+    mL.SetPow2(0.2);
+    mR.SetPow2(0.2);
+    while (1) {
+        if(t3.read_ms()>5000)
+            break;
+        if(t2.read_ms()>100)
+         {
+             t2.reset();
+             pex.ToggleLeds(LED_ALL_FRONT);
+             }
+    }
+    mL.SetPow2(0.0);
+    mR.SetPow2(0.0);
+    pex.ClearLeds();
+}
+
+//---------------------------------------------------------------
+//---------------------------------------------------------------
+
+
+int main(void)
+{
+    boardPow=1;
+    wait_ms(10);
+    InitBertl();
+    pex.useISR=0;
+    leds=9;
+    pex.ClearLeds();
+
+
+    pex.WaitUntilButtonPressed();
+    
+    t2.start();
+    t3.start();
+
+    while(1) {
+        pex.ReadButtons();
+        if( pex.IsButton (BTN_FLL|BTN_FL) )
+            LeftCurve();
+        if( pex.IsButton(BTN_FRR|BTN_FR))
+            RightCurve();
+        if( pex.IsButton(BTN_FM))
+            Forward();
+    }
+    return 1;
+}
+
+
+
+