Diff: Sources/main.cpp

Revision:

10:f76476943a6c

Parent:

7:6fed0dcae9c1

Child:

11:292bdbd85a9c

--- a/Sources/main.cpp	Tue May 02 08:00:19 2017 +0000
+++ b/Sources/main.cpp	Wed May 03 13:54:51 2017 +0000
@@ -26,20 +26,30 @@
 PwmOut          right(PA_9);
 
 DigitalOut      powerSignal(PB_2);
-DigitalIn       errorSignal(PB_14);
+DigitalIn       errorMotor(PB_14);
 DigitalIn       overtemperatur(PB_15);
 
 //Arm:
-Servo servoArm(PA_6);
+ServoArm servoArm(PA_6);
+
+//Greifer:
+Servo servoGreifer(PC_7);
 
 //Farbsensor:
 AnalogIn FarbVoltage(A0);
 
-Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm); //Implement the Farbsensor into the Robot init function!!
+Robot sam( &left, &right, &powerSignal, leds, &FarbVoltage, &frontS, &leftS, &rightS, &servoArm, &servoGreifer ); //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
@@ -48,6 +58,7 @@
     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.
         }
@@ -97,7 +108,7 @@
 }
 /* */
 
-/* */
+/* * /
 int main(){
     sam.stop();
     int done = 0;           //1:= finished process; 0:= not finished
@@ -128,4 +139,6 @@
         }
         wait(0.1);
     }
-}    
\ No newline at end of file
+}
+
+*/
\ No newline at end of file