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while(1){ VOR (weiss)_ZURUECK(rot)_RECHTS(blinker) }
- include "mbed.h"
DigitalOut Von(P2_13); 12V on Definition der 12 LED's DigitalOut WSLI(P1_10); wsS links D1 DigitalOut WSRE(P1_12); wsS rechts D4 DigitalOut GELIVO (P1_11); ge links vorn D2 DigitalOut GEREVO (P1_13); ge rechts vorn D5 DigitalOut GELIHI(P1_14); ge links hinten D6 DigitalOut RTLIHI(P1_15); rt links hinbten D7 DigitalOut GEREHI(P1_16); ge rechts hinten D8 DigitalOut RTREHI(P1_17); rt rechts hinten D9
DigitalOut ledD10 (P1_18); DigitalOut ledD11 (P2_16); DigitalOut ledD12 (P1_20); DigitalOut ledD13 (P1_21);
LDR AnalogIn LDR(P0_14); RGB LED DigitalOut RGB(P1_22); Motor Steuerung Schaltung Pg 2 DigitalOut MG1_EN(P2_16); NUR DIGITAL ohne PWM ! ! ! DigitalOut MG1_F(P2_15); DigitalOut MG1_R(P2_14); DigitalOut MG2_EN(P2_19); DigitalOut MG2_F(P2_20); DigitalOut MG2_R(P2_21); ULTRASCHALL ABSTANDSMESSER DigitalOut TRIG(P2_22); DigitalIn ECHO(P2_23); Definition der Taster **** Schaltplan Pg5 DigitalIn TA1(P1_23); TA1 DigitalIn TA2(P1_24); DigitalIn TA3(P1_25); DigitalIn TA4(P1_26); DigitalIn TA5(P1_27); DigitalIn TA6(P1_28); DigitalIn TA7(P1_30); DigitalIn TA8(P1_31); INCREMENTGEBER ***** Schaltplan Pg 6 DigitalOut EN_INCR (P2_2); Incrementgeber Enable DigitalIn INCR_L1 (P2_6); DigitalIn INCR_L2 (P2_7); DigitalIn INCR_R1 (P2_8); DigitalIn INCR_R2 (P2_9); LINE SENSOR ***** Schaltplan Pg 7 DigitalOut EN_Line (P2_5); Enable LINE Sensor DigitalIn ISO1 (P1_9); Statt ANALOG hier DIGITAL DigitalIn ISO2 (P0_23); nur für einfachen TEST! DigitalIn ISO3 (P0_16); DigitalIn ISO4 (P0_15); DigitalIn ISO5 (P1_3); Blue LED ****** Schaltplan Pg 8 DigitalOut LedBl (P1_5);
int main() {
ALLE LEDS aus GELIHI=1; Gelb links hinten GEREHI=1;gelb rehts hinten RTREHI=1;Rot rechts hinten RTLIHI=1; rot links hinten GELIVO=1;gelb links vorne GEREVO=1;gelb rechts hinten WSLI=1;weiss links vorne WSRE=1;weiss rechts vorne ledD10=1; ledD11=1; ledD13=1; ledD12=1;
Von =1; MG1_EN=MG2_EN=1;
while(1)Hauptschleife {
int c=0; int d=0; int e=0; int f=0;
1 Schleife (vor-zurück-90°rechts) while(c<1) {
int i = 0; int a = 0; int b = 0;
MG1_F=MG2_F=1;
LED links nach rechts while(i<1) {
WSLI=0; WSRE=0; ledD10=0; wait (0.2); ledD10=1;
ledD11=0; wait (0.2); ledD11=1;
ledD13=0; wait (0.2); ledD13=1;
ledD12=0; wait (0.2); ledD12=1;
WSLI=1; WSRE=1;
i++; }
MG1_F=MG2_F=0; wait(0.1); MG1_R=MG2_R=1;
LED rechts nach links while(a<1) {
RTREHI=0;Rot rechts hinten RTLIHI=0; rot links hinten
ledD12=0; wait (0.2); ledD12=1;
ledD13=0; wait (0.2); ledD13=1;
ledD11=0; wait (0.2); ledD11=1;
ledD10=0; wait(0.2); ledD10=1;
RTREHI=1;Rot rechts hinten RTLIHI=1; rot links hinten
a++; }
MG1_R=MG2_R=0; wait(0.75);
Blinker Rechts Vorn/Hinten while(b<2) { GEREVO=0; GEREHI=0; wait(0.05); GEREVO=1; GEREHI=1; wait(0.05); GEREVO=0; GEREHI=0; wait(0.05); GEREVO=1; GEREHI=1; wait(0.05); GEREVO=0; GEREHI=0; wait(0.05); GEREVO=1; GEREHI=1; wait(0.05); b++; }
90° Drehung (rechts) MG1_F=MG2_R=1;
wait(0.5555555);
MG1_F=MG2_R=0; wait(0.5);
c++; }
2 Schleife (vor-zurück-90°links) while(d<1) { int i = 0; int a = 0; int b = 0; MG1_F=MG2_F=1;
LED links nach rechts while(i<1) {
WSLI=0; WSRE=0; ledD10=0; wait (0.2); ledD10=1;
ledD11=0; wait (0.2); ledD11=1;
ledD13=0; wait (0.2); ledD13=1;
ledD12=0; wait (0.2); ledD12=1;
WSLI=1; WSRE=1;
i++; }
MG1_F=MG2_F=0; wait(0.1); MG1_R=MG2_R=1;
LED rechts nach links while(a<1) {
RTREHI=0;Rot rechts hinten RTLIHI=0; rot links hinten
ledD12=0; wait (0.2); ledD12=1;
ledD13=0; wait (0.2); ledD13=1;
ledD11=0; wait (0.2); ledD11=1;
ledD10=0; wait(0.2); ledD10=1;
RTREHI=1;Rot rechts hinten RTLIHI=1; rot links hinten
a++; }
MG1_R=MG2_R=0; wait(0.75);
Blinker Links Vorn/Hinten while(b<2) { GELIVO=0; GELIHI=0; wait(0.05); GELIVO=1; GELIHI=1; wait(0.05); GELIVO=0; GELIHI=0; wait(0.05); GELIVO=1; GELIHI=1; wait(0.05); GELIVO=0; GELIHI=0; wait(0.05); GELIVO=1; GELIHI=1; wait(0.05); b++; }
90° Drehung (links) MG1_R=MG2_F=1;
wait(0.5555555);
MG1_R=MG2_F=0; wait(0.5);
d++; }
3.Schleife (zurück-vor-90°links) while(e<1) { int i = 0; int a = 0; int b = 0;
MG1_R=MG2_R=1;
LED rechts nach links while(a<1) {
RTREHI=0;Rot rechts hinten RTLIHI=0; rot links hinten
ledD12=0; wait (0.2); ledD12=1;
ledD13=0; wait (0.2); ledD13=1;
ledD11=0; wait (0.2); ledD11=1;
ledD10=0; wait(0.2); ledD10=1;
RTREHI=1;Rot rechts hinten RTLIHI=1; rot links hinten
a++; }
MG1_R=MG2_R=0; wait(0.1); MG1_F=MG2_F=1;
LED links nach rechts while(i<1) {
WSLI=0; WSRE=0; ledD10=0; wait(0.2); ledD10=1;
ledD11=0; wait(0.2); ledD11=1;
ledD13=0; wait(0.2); ledD13=1;
ledD12=0; wait(0.2); ledD12=1;
WSLI=1; WSRE=1;
i++; }
MG1_F=MG2_F=0; wait(0.75);
Blinker Rechts Vorn/Hinten while(b<2) { GEREVO=0; GEREHI=0; wait(0.05); GEREVO=1; GEREHI=1; wait(0.05); GEREVO=0; GEREHI=0; wait(0.05); GEREVO=1; GEREHI=1; wait(0.05); GEREVO=0; GEREHI=0; wait(0.05); GEREVO=1; GEREHI=1; wait(0.05); b++; }
90° Drehung (rechts) MG1_F=MG2_R=1;
wait(0.5555555);
MG1_F=MG2_R=0; wait(0.5);
e++; }
4.Schleife (zurück-vorn-90°links) while(f<1) { int i = 0; int a = 0; int b = 0; MG1_R=MG2_R=1;
LED rechts nach links while(a<1) {
RTREHI=0;Rot rechts hinten RTLIHI=0; rot links hinten
ledD12=0; wait (0.2); ledD12=1;
ledD13=0; wait (0.2); ledD13=1;
ledD11=0; wait (0.2); ledD11=1;
ledD10=0; wait(0.2); ledD10=1;
RTREHI=1;Rot rechts hinten RTLIHI=1; rot links hinten
a++; }
MG1_R=MG2_R=0; wait(0.1); MG1_F=MG2_F=1;
LED links nach rechts while(i<1) {
WSLI=0; WSRE=0; ledD10=0; wait (0.2); ledD10=1;
ledD11=0; wait (0.2); ledD11=1;
ledD13=0; wait (0.2); ledD13=1;
ledD12=0; wait (0.2); ledD12=1;
WSLI=1; WSRE=1;
i++; }
MG1_F=MG2_F=0; wait(0.75);
Blinker Links Vorn/Hinten while(b<2) { GELIVO=0; GELIHI=0; wait(0.05); GELIVO=1; GELIHI=1; wait(0.05); GELIVO=0; GELIHI=0; wait(0.05); GELIVO=1; GELIHI=1; wait(0.05); GELIVO=0; GELIHI=0; wait(0.05); GELIVO=1; GELIHI=1; wait(0.05); b++; }
90° Drehung (links) MG1_R=MG2_F=1;
wait(0.5555555);
MG1_R=MG2_F=0; wait(0.5);
f++; }
}
}