![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
ahah
Fork of PES_Official by
Sources/main.cpp
- Committer:
- beacon
- Date:
- 2017-04-26
- Revision:
- 5:1aaf5de776ff
- Parent:
- 4:67d7177c213f
- Child:
- 6:9627ef490cd5
File content as of revision 5:1aaf5de776ff:
#include "mbed.h" #include "Robot.h" #include "Declarations.h" #include <cstdlib> //DistanceSensors related bottom: Serial pc(SERIAL_TX, SERIAL_RX); AnalogIn sensorVoltage(PB_1); DigitalOut enable(PC_1); DigitalOut bit0(PH_1); DigitalOut bit1(PC_2); DigitalOut bit2(PC_3); //DistanceSensors top: AnalogIn frontS(A1); AnalogIn leftS(A2); AnalogIn rightS(A3); //Leds related: DigitalOut leds[6] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 }; //motor related: PwmOut left(PA_8); PwmOut right(PA_9); DigitalOut powerSignal(PB_2); DigitalIn errorSignal(PB_14); DigitalIn overtemperatur(PB_15); //Arm: //Servo arm(PC_7); //Farbsensor: AnalogIn FarbVoltage(A0); Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS ); //Implement the Farbsensor into the Robot init function!! void initializeDistanceSensors(){ for( int ii = 0; ii<9; ++ii) { sam.sensors[ii].init(&sensorVoltage, &frontS, &leftS, &rightS, &bit0, &bit1, &bit2, ii); enable = 1; } } /* */ int main(){ initializeDistanceSensors(); //Initialises IR-Sensors. int counter = 0; //Counts how many times the robot has turned, before driving int timer = 0; //Is used, to reset the robot. Returns time in [0.1s] //int lastFun = -1; //Is used, to check if the same action in Robot::search() was made multiple times. int found = 0; //0:= no block available, 1 := a lego is ready to be picked up while( 1 ){ if ( timer > TIMEOUT ){ NVIC_SystemReset(); //Resets Sam. } else if (found == 0){ sam.search(&counter, &timer, &found); } else{ //pick up lego //found = 0; sam.stop(); //Nur zum Testen } wait( 0.1f ); } return 0; } /* * / int main(){ initializeDistanceSensors(); sam.stop(); while ( 1 ){ for (int i=0; i<6; i++){ sam.sensors[i] < NEAR ? sam.leds[i] = 1 : sam.leds[i] = 0; } sam.turnLeftS(); while (sam.sensors[FWD] < NEAR){ wait(0.05f); sam.stop(); } } return 0; } /* */ /* * / int main(){ for(float p=0; p<1.0; p += 0.1) { // arm = p; wait(0.2); } } /* */