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Dependencies: Servo ServoArm mbed
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Diff: Sources/main.cpp
- Revision:
- 6:ba26dd3251b3
- Parent:
- 5:1aaf5de776ff
- Child:
- 7:6fed0dcae9c1
diff -r 1aaf5de776ff -r ba26dd3251b3 Sources/main.cpp --- a/Sources/main.cpp Wed Apr 26 08:05:25 2017 +0000 +++ b/Sources/main.cpp Wed Apr 26 14:09:08 2017 +0000 @@ -30,12 +30,12 @@ DigitalIn overtemperatur(PB_15); //Arm: -//Servo arm(PC_7); +Servo servoArm(PA_6); //Farbsensor: AnalogIn FarbVoltage(A0); -Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS ); //Implement the Farbsensor into the Robot init function!! +Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm); //Implement the Farbsensor into the Robot init function!! void initializeDistanceSensors(){ for( int ii = 0; ii<9; ++ii) { @@ -45,7 +45,7 @@ } } -/* */ +/* * / int main(){ initializeDistanceSensors(); //Initialises IR-Sensors. int counter = 0; //Counts how many times the robot has turned, before driving @@ -101,4 +101,35 @@ wait(0.2); } } -/* */ \ No newline at end of file +/* */ + +/* */ +int main(){ + sam.stop(); + int done = 0; //1:= finished process; 0:= not finished + int fun = 0; //just to test. + + while(1){ + if(fun == 0){ + done = 0; + sam.Arm.collecttoback(&done); + done == 0 ? fun = 0 : fun = 1; + } + else if(fun == 1){ + done = 0; + sam.Arm.backtocollect(&done); + done == 0 ? fun = 1 : fun = 2; + } + else if(fun == 2){ + done = 0; + sam.Arm.collecttodown(&done); + done == 0 ? fun = 2 : fun = 3; + } + else if(fun == 3){ + done = 0; + sam.Arm.downtocollect(&done); + done == 0 ? fun = 3 : fun = 0; + } + wait(0.1); + } +} \ No newline at end of file