Diff: Sources/main.cpp

Revision:

9:ac362674c480

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/main.cpp	Tue May 02 08:39:35 2017 +0000
@@ -0,0 +1,131 @@
+#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 servoArm(PA_6);
+
+//Farbsensor:
+AnalogIn FarbVoltage(A0);
+
+Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm); //Implement the Farbsensor into the Robot init function!!
+
+
+
+/* * /
+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);
+    }
+}
+/* */
+
+/* */
+int main(){
+    sam.stop();
+    int done = 0;           //1:= finished process; 0:= not finished
+    int fun = 0;            //just to test.
+    int start = 0; 
+              
+   
+    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);
+    }
+}    
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