the new engineer´s
/
LAB_6_BingBong_Bertl
BingBong
Fork of BertlTemplate2 by
Diff: BertlTemplate.cpp
- Revision:
- 3:57fc35fcd060
- Parent:
- 2:d24a3d2438a4
- Child:
- 4:3aca65c975f0
--- a/BertlTemplate.cpp Mon Feb 22 10:55:46 2016 +0000 +++ b/BertlTemplate.cpp Mon May 02 15:49:14 2016 +0000 @@ -7,18 +7,81 @@ // main=2^0 LS ENC 2^2 BusOut boardPow(p30, P1_6, P1_7); -int main(void) +Timer t1,t2; + +void BlinkTask_Forward() +{ + if(t1.read_ms()>100) { + t1.reset(); + pex.ToggleLeds(LED_ALL_FRONT);} + +} +void BlinkTask_Backward() { - boardPow=1; wait_ms(10); - InitBertl(); - pex.useISR=0; leds=9; + if(t2.read_ms()>200) { + t2.reset(); + pex.ToggleLeds(LED_ALL_BACK); + + } +} + +void ForwardUntilWall() +{ + mL.SetPow2(0.3); + mR.SetPow2(0.3); //Leistung 30% .. 0.3 + + + while(1) { + pex.ReadButtons(); + if (pex.IsButton (BTN_FM)) + break; + BlinkTask_Forward(); + } + mL.SetPow2(0.0); + mR.SetPow2(0.0); pex.ClearLeds(); +} + +void BackwardUntilWall() +{ - while(1) - { + mL.SetPow2(-0.3); + mR.SetPow2(-0.3); //Leistung 30% .. 0.3 + + + while(1) { + pex.ReadButtons(); + if (pex.IsButton (BTN_BM)) + break; + BlinkTask_Backward(); } - - return 1; + mL.SetPow2(0.0); + mR.SetPow2(0.0); + pex.ClearLeds(); } +int main(void) +{ + boardPow=1; + wait_ms(10); + InitBertl(); + pex.useISR=0; + leds=0; + pex.ClearLeds(); + + pex.WaitUntilFrontButtonPressed(); + t1.start(); + t2.start(); + + while(1) { + + ForwardUntilWall(); + BackwardUntilWall(); + + } + return 1; + +} + +