the new engineer´s / Mbed 2 deprecated Liniensensor_Bendel_V2

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Dependencies:   BertlLib mbed

Fork of Liniensensor_Bendel by the new engineer´s

Files at this revision

API Documentation at this revision

Revision 4:e7be677a73e5, committed 2016-03-14

Comitter:
schoeni_91
Date:
Mon Mar 14 18:19:29 2016 +0000
Parent:
3:b6754e794335
Commit message:
Version 2

Changed in this revision

LinienSensor_Pendel.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r b6754e794335 -r e7be677a73e5 LinienSensor_Pendel.cpp
--- a/LinienSensor_Pendel.cpp	Mon Mar 14 17:16:26 2016 +0000
+++ b/LinienSensor_Pendel.cpp	Mon Mar 14 18:19:29 2016 +0000
@@ -9,9 +9,11 @@
 Timer t1, t2;
 AnalogInHL ls1(p18), ls2(p16), ls3(p20), ls4(p19), ls5(p17);
 
-
+void FollowUntilEnd ();
+void TurnUntilLine();
 int main(void)
 {
+    pex.WaitUntilFrontButtonPressed();
     boardPow=3;
     wait_ms(10);
     InitBertl();
@@ -19,25 +21,58 @@
     leds=9;
     pex.ClearLeds();
     t1.start();
-    t2.start();
-    
-    while(1) {
-        pex.ReadButtons();
-        if(pex.IsButton(BTN_FM))
-        {
-        if (ls3.Read()>400)
-        {
-            mL.SetPow(0.1);
-            mR.SetPow(0.3);
-        }
-        else
-        {
-            mL.SetPow(0.3);
-            mR.SetPow(0.1);
-        }  
-        } 
-       
+    while(1)
+    {
+    wait_ms(1000);
+    FollowUntilEnd ();
+    wait_ms(1000);
+    TurnUntilLine();
     }
+    while(1){}
+
 
     return 1;
 }
+
+void FollowUntilEnd ()
+{
+    t1.reset();
+    while(1) {
+
+
+        if (ls3.Read()>400) {
+            mL.SetPow(0.0);
+            mR.SetPow(0.25);
+            t1.reset();
+        }
+
+        else {
+            mL.SetPow(0.25);
+            mR.SetPow(0.0);
+        }
+
+        if (t1.read_ms()>500) {
+            mL.SetPow(0.0);
+            mR.SetPow(0.0);
+            return;
+
+        }
+
+    }
+
+}
+
+void TurnUntilLine()
+{
+    mL.SetPow2(0.15);
+    mR.SetPow2(-0.15);
+    
+    while(1){
+    
+    if (ls3.Read()>400){
+        mL.SetPow2(0.0);
+        mR.SetPow2(0.0);
+        return;
+        }
+    }
+    }
\ No newline at end of file

diff -r b6754e794335 -r e7be677a73e5 mbed.bld
--- a/mbed.bld	Mon Mar 14 17:16:26 2016 +0000
+++ b/mbed.bld	Mon Mar 14 18:19:29 2016 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/9ad691361fac
\ No newline at end of file
+http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb
\ No newline at end of file