Diff: Sources/main.cpp

Revision:

0:d267b248eff4

Child:

1:388c915756f5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sources/main.cpp	Sat Mar 11 10:14:00 2017 +0000
@@ -0,0 +1,105 @@
+#include "mbed.h"
+#include "Robot.h"
+
+#include <cstdlib>
+
+#define NEAR 0.1f   //Used for distance Sensors. If they're to near to a wall -> turn
+#define LEFT        //Arrayindex of the left Sensor
+#define FWD         //Arrayindex of the forward Sensor
+#define RIGHT       //Arrayindex of the right Sensor
+
+
+//Robot related:
+PwmOut          left(PA_8);
+PwmOut          right(PA_3);
+
+DigitalOut      powerSignal(PB_2);
+DigitalIn       errorSignal(PB_14);
+DigitalIn       overtemperatur(PB_15);
+
+Robot bot( &left, &right, &powerSignal );
+
+//DistanceSensors related:
+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);
+//Robot::DistanceSensors sensors[6];
+
+//LED related:
+DigitalOut leds[] = { PC_8, PC_6, PB_12, PA_7, PC_0, PC_9 };
+
+void initialiseDistanceSensors(){
+    for( int ii = 0; ii<6; ++ii) {
+        bot.sensors[ii].init(&sensorVoltage, &bit0, &bit1, &bit2, ii);
+
+        enable = 1;
+    }
+}
+
+void fahralgorithmus(){
+    
+    int rando = 0; //Will be used for rdandom actions.
+
+    while( 1 ) {    //Remember to change the indices. Also make into a seperate function
+
+        if ( bot.sensors[0] < NEAR ) { //Left Sensor
+            while ( bot.sensors[0] < NEAR ) {
+                bot.turnRight();
+            }
+        }
+
+        else if ( bot.sensors[1] < NEAR ) { //Front Sensor
+            rando = rand() % 2;
+            while ( bot.sensors[1] < NEAR ) {
+                bot.turnAround(rando);
+            }
+        }
+
+        else if ( bot.sensors[2] < NEAR ) { //Right Sensor
+            while ( bot.sensors[2] < NEAR ) {
+                bot.turnLeft();
+            }
+        }
+
+        else {
+            bot.drive();
+        }
+
+    }
+}
+
+/* * /
+
+
+int main(){
+    while( 1 ){
+        bot.drive();
+    }
+    return 0;
+}
+/* */
+
+
+/* */
+int main()
+{
+    initialiseDistanceSensors();
+    
+    while( 1 ){
+        for(int i=0; i<6; i++){
+            if(bot.sensors[i] > 0.05f){
+                leds[i] = 1;
+            }
+            else{
+                leds[i] = 0;
+            }
+        }
+    }
+    
+    return 0;
+}
+/*  */
\ No newline at end of file