Diff: Sources/main.cpp

Revision:

8:593f82e66bdf

Parent:

6:ba26dd3251b3

Child:

9:ac362674c480

--- a/Sources/main.cpp	Wed Apr 26 14:09:08 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,135 +0,0 @@
-#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!!
-
-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);
-    }
-}
-/* */
-
-/* */
-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