Changed Up libary
Fork of Bertl by
ur_Bertl.cpp@2:1cd559ff516b, 2015-03-26 (annotated)
- Committer:
- bulmecisco
- Date:
- Thu Mar 26 12:39:40 2015 +0000
- Revision:
- 2:1cd559ff516b
- Parent:
- 1:fafbac0ba96d
- Child:
- 3:01b183fe8b41
Time for TurnLeft and Move added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bulmecisco | 0:66e9a0afcbd6 | 1 | /*********************************** |
bulmecisco | 0:66e9a0afcbd6 | 2 | name: ur_Bertl.cpp Version: 1.1 |
bulmecisco | 0:66e9a0afcbd6 | 3 | author: PE HTL BULME |
bulmecisco | 0:66e9a0afcbd6 | 4 | email: pe@bulme.at |
bulmecisco | 0:66e9a0afcbd6 | 5 | description: |
bulmecisco | 0:66e9a0afcbd6 | 6 | Implementation portion of class ur_Bertl The Robot |
bulmecisco | 0:66e9a0afcbd6 | 7 | Blue LED and RGB LED test added |
bulmecisco | 0:66e9a0afcbd6 | 8 | |
bulmecisco | 0:66e9a0afcbd6 | 9 | ***********************************/ |
bulmecisco | 0:66e9a0afcbd6 | 10 | #include "mbed.h" |
bulmecisco | 0:66e9a0afcbd6 | 11 | #include "config.h" |
bulmecisco | 0:66e9a0afcbd6 | 12 | #include "ur_Bertl.h" |
bulmecisco | 0:66e9a0afcbd6 | 13 | |
bulmecisco | 0:66e9a0afcbd6 | 14 | // Constructor |
bulmecisco | 0:66e9a0afcbd6 | 15 | ur_Bertl::ur_Bertl() : _interrupt(P1_12) // left sensor P1_13 |
bulmecisco | 0:66e9a0afcbd6 | 16 | { |
bulmecisco | 0:66e9a0afcbd6 | 17 | i2c.frequency(40000); // I2C Frequenz 40kHz |
bulmecisco | 0:66e9a0afcbd6 | 18 | mg1 = mg2 = SPEED; |
bulmecisco | 0:66e9a0afcbd6 | 19 | _interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor |
bulmecisco | 0:66e9a0afcbd6 | 20 | _count = 0; |
bulmecisco | 0:66e9a0afcbd6 | 21 | beepersInBag = 0; |
bulmecisco | 0:66e9a0afcbd6 | 22 | } |
bulmecisco | 0:66e9a0afcbd6 | 23 | |
bulmecisco | 0:66e9a0afcbd6 | 24 | ur_Bertl::ur_Bertl(PinName pin) : _interrupt(pin) // create the InterruptIn on the pin specified to Counter |
bulmecisco | 0:66e9a0afcbd6 | 25 | { |
bulmecisco | 0:66e9a0afcbd6 | 26 | i2c.frequency(40000); // I2C Frequenz 40kHz |
bulmecisco | 0:66e9a0afcbd6 | 27 | mg1 = mg2 = SPEED; |
bulmecisco | 0:66e9a0afcbd6 | 28 | _interrupt.rise(this, &ur_Bertl::increment); // attach increment function of this counter instance ie. motor sensor |
bulmecisco | 0:66e9a0afcbd6 | 29 | _count = 0; |
bulmecisco | 0:66e9a0afcbd6 | 30 | beepersInBag = 0; |
bulmecisco | 0:66e9a0afcbd6 | 31 | } |
bulmecisco | 0:66e9a0afcbd6 | 32 | |
bulmecisco | 0:66e9a0afcbd6 | 33 | |
bulmecisco | 0:66e9a0afcbd6 | 34 | // Pulblic methodes |
bulmecisco | 0:66e9a0afcbd6 | 35 | void ur_Bertl::Move() |
bulmecisco | 0:66e9a0afcbd6 | 36 | { |
bulmecisco | 0:66e9a0afcbd6 | 37 | int count = _count; |
bulmecisco | 0:66e9a0afcbd6 | 38 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 0:66e9a0afcbd6 | 39 | MotorR_FORWARD = MotorL_FORWARD = 1; // both motor forward ON |
bulmecisco | 2:1cd559ff516b | 40 | #ifdef TIME |
bulmecisco | 2:1cd559ff516b | 41 | wait_ms(MOVE); |
bulmecisco | 2:1cd559ff516b | 42 | #else |
bulmecisco | 0:66e9a0afcbd6 | 43 | |
bulmecisco | 0:66e9a0afcbd6 | 44 | while(_count < count+DISTANCE) { |
bulmecisco | 0:66e9a0afcbd6 | 45 | //if(!FrontIsClear()) // more convenient because there are no accidents :-) |
bulmecisco | 0:66e9a0afcbd6 | 46 | // break; |
bulmecisco | 0:66e9a0afcbd6 | 47 | #ifdef FRONTBUTTON |
bulmecisco | 0:66e9a0afcbd6 | 48 | if(frontButtonPressed()) |
bulmecisco | 0:66e9a0afcbd6 | 49 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 50 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 51 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 0:66e9a0afcbd6 | 52 | } |
bulmecisco | 2:1cd559ff516b | 53 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 54 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 55 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 0:66e9a0afcbd6 | 56 | wait_ms(250); |
bulmecisco | 0:66e9a0afcbd6 | 57 | } |
bulmecisco | 0:66e9a0afcbd6 | 58 | |
bulmecisco | 0:66e9a0afcbd6 | 59 | void ur_Bertl::PutBeeper() |
bulmecisco | 0:66e9a0afcbd6 | 60 | { |
bulmecisco | 0:66e9a0afcbd6 | 61 | // wait_ms(500); |
bulmecisco | 0:66e9a0afcbd6 | 62 | if(beepersInBag > 0) |
bulmecisco | 0:66e9a0afcbd6 | 63 | beepersInBag--; |
bulmecisco | 0:66e9a0afcbd6 | 64 | else |
bulmecisco | 0:66e9a0afcbd6 | 65 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 66 | } |
bulmecisco | 0:66e9a0afcbd6 | 67 | |
bulmecisco | 0:66e9a0afcbd6 | 68 | void ur_Bertl::PickBeeper() |
bulmecisco | 0:66e9a0afcbd6 | 69 | { |
bulmecisco | 0:66e9a0afcbd6 | 70 | // wait_ms(500); |
bulmecisco | 0:66e9a0afcbd6 | 71 | if (linesensor) |
bulmecisco | 0:66e9a0afcbd6 | 72 | beepersInBag++; |
bulmecisco | 0:66e9a0afcbd6 | 73 | else |
bulmecisco | 0:66e9a0afcbd6 | 74 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 75 | } |
bulmecisco | 0:66e9a0afcbd6 | 76 | |
bulmecisco | 0:66e9a0afcbd6 | 77 | void ur_Bertl::TurnLeft() |
bulmecisco | 0:66e9a0afcbd6 | 78 | { |
bulmecisco | 0:66e9a0afcbd6 | 79 | int count = _count; |
bulmecisco | 0:66e9a0afcbd6 | 80 | MotorR_EN=MotorL_EN=1; // motor left and right ENABLE |
bulmecisco | 0:66e9a0afcbd6 | 81 | |
bulmecisco | 0:66e9a0afcbd6 | 82 | MotorR_FORWARD = MotorL_REVERSE = 1; |
bulmecisco | 2:1cd559ff516b | 83 | #ifdef TIME |
bulmecisco | 2:1cd559ff516b | 84 | wait_ms(TURN); |
bulmecisco | 2:1cd559ff516b | 85 | #else |
bulmecisco | 2:1cd559ff516b | 86 | |
bulmecisco | 0:66e9a0afcbd6 | 87 | while(_count < count+ANGLE) { |
bulmecisco | 0:66e9a0afcbd6 | 88 | #ifdef FRONTBUTTON |
bulmecisco | 0:66e9a0afcbd6 | 89 | if(frontButtonPressed()) // get out if to much problems |
bulmecisco | 0:66e9a0afcbd6 | 90 | error(); |
bulmecisco | 0:66e9a0afcbd6 | 91 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 92 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 0:66e9a0afcbd6 | 93 | } |
bulmecisco | 2:1cd559ff516b | 94 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 95 | MotorR_FORWARD = MotorL_REVERSE = 0; |
bulmecisco | 0:66e9a0afcbd6 | 96 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 0:66e9a0afcbd6 | 97 | wait_ms(250); // only to step the robot |
bulmecisco | 0:66e9a0afcbd6 | 98 | } |
bulmecisco | 0:66e9a0afcbd6 | 99 | |
bulmecisco | 0:66e9a0afcbd6 | 100 | bool ur_Bertl::WaitUntilButtonPressed() |
bulmecisco | 0:66e9a0afcbd6 | 101 | { |
bulmecisco | 0:66e9a0afcbd6 | 102 | char cmd[3]; |
bulmecisco | 0:66e9a0afcbd6 | 103 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 104 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 105 | |
bulmecisco | 0:66e9a0afcbd6 | 106 | RGB_blue=RGB_red=RGB_green=0; |
bulmecisco | 0:66e9a0afcbd6 | 107 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 108 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 109 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 110 | |
bulmecisco | 0:66e9a0afcbd6 | 111 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 112 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 113 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 114 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 115 | if( btns & (0xFF)) |
bulmecisco | 0:66e9a0afcbd6 | 116 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 117 | else |
bulmecisco | 0:66e9a0afcbd6 | 118 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 119 | DEBUG_PRINT("\right\nWERT: %d \right\n", wert); |
bulmecisco | 0:66e9a0afcbd6 | 120 | return wert; |
bulmecisco | 0:66e9a0afcbd6 | 121 | } |
bulmecisco | 0:66e9a0afcbd6 | 122 | |
bulmecisco | 0:66e9a0afcbd6 | 123 | void ur_Bertl::ShutOff() |
bulmecisco | 0:66e9a0afcbd6 | 124 | { |
bulmecisco | 0:66e9a0afcbd6 | 125 | MotorR_FORWARD = MotorL_FORWARD = 0; // motor OFF |
bulmecisco | 0:66e9a0afcbd6 | 126 | MotorR_EN=MotorL_EN=0; // motor disable |
bulmecisco | 0:66e9a0afcbd6 | 127 | } |
bulmecisco | 0:66e9a0afcbd6 | 128 | |
bulmecisco | 0:66e9a0afcbd6 | 129 | // LEDs methodes |
bulmecisco | 0:66e9a0afcbd6 | 130 | |
bulmecisco | 0:66e9a0afcbd6 | 131 | void ur_Bertl::BlueLedsON() |
bulmecisco | 0:66e9a0afcbd6 | 132 | { |
bulmecisco | 0:66e9a0afcbd6 | 133 | LED_blue=0; |
bulmecisco | 0:66e9a0afcbd6 | 134 | } |
bulmecisco | 0:66e9a0afcbd6 | 135 | |
bulmecisco | 0:66e9a0afcbd6 | 136 | void ur_Bertl::BlueLedsOFF() |
bulmecisco | 0:66e9a0afcbd6 | 137 | { |
bulmecisco | 0:66e9a0afcbd6 | 138 | LED_blue=1; |
bulmecisco | 0:66e9a0afcbd6 | 139 | } |
bulmecisco | 0:66e9a0afcbd6 | 140 | |
bulmecisco | 0:66e9a0afcbd6 | 141 | void ur_Bertl::RGBLed(bool red, bool green, bool blue) |
bulmecisco | 0:66e9a0afcbd6 | 142 | { |
bulmecisco | 0:66e9a0afcbd6 | 143 | RGB_blue=!blue; |
bulmecisco | 0:66e9a0afcbd6 | 144 | RGB_red=!red; |
bulmecisco | 0:66e9a0afcbd6 | 145 | RGB_green=!green; |
bulmecisco | 0:66e9a0afcbd6 | 146 | } |
bulmecisco | 0:66e9a0afcbd6 | 147 | |
bulmecisco | 0:66e9a0afcbd6 | 148 | void ur_Bertl::TurnLedOn(int16_t led) |
bulmecisco | 0:66e9a0afcbd6 | 149 | { |
bulmecisco | 0:66e9a0afcbd6 | 150 | char cmd[3]; |
bulmecisco | 0:66e9a0afcbd6 | 151 | |
bulmecisco | 1:fafbac0ba96d | 152 | if(led == 0xBB) { |
bulmecisco | 1:fafbac0ba96d | 153 | LED_blue=0; |
bulmecisco | 1:fafbac0ba96d | 154 | return; |
bulmecisco | 1:fafbac0ba96d | 155 | } else if (led == 0xFF) { |
bulmecisco | 1:fafbac0ba96d | 156 | RGBLed(1,1,1); |
bulmecisco | 1:fafbac0ba96d | 157 | LED_blue=0; |
bulmecisco | 1:fafbac0ba96d | 158 | } |
bulmecisco | 0:66e9a0afcbd6 | 159 | cmd[0] = 0x02; |
bulmecisco | 0:66e9a0afcbd6 | 160 | cmd[1] = ~led; |
bulmecisco | 0:66e9a0afcbd6 | 161 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 162 | wait(0.5); |
bulmecisco | 0:66e9a0afcbd6 | 163 | } |
bulmecisco | 0:66e9a0afcbd6 | 164 | |
bulmecisco | 0:66e9a0afcbd6 | 165 | void ur_Bertl::TurnLedOff(int16_t led) |
bulmecisco | 0:66e9a0afcbd6 | 166 | { |
bulmecisco | 0:66e9a0afcbd6 | 167 | char cmd[3]; |
bulmecisco | 1:fafbac0ba96d | 168 | if(led == 0xBB) { |
bulmecisco | 1:fafbac0ba96d | 169 | LED_blue=1; |
bulmecisco | 1:fafbac0ba96d | 170 | return; |
bulmecisco | 1:fafbac0ba96d | 171 | } else if (led == 0xFF) { |
bulmecisco | 1:fafbac0ba96d | 172 | RGBLed(0,0,0); //don't work? |
bulmecisco | 1:fafbac0ba96d | 173 | LED_blue=1; |
bulmecisco | 1:fafbac0ba96d | 174 | } |
bulmecisco | 0:66e9a0afcbd6 | 175 | cmd[0] = 0x02; |
bulmecisco | 0:66e9a0afcbd6 | 176 | cmd[1] = led; |
bulmecisco | 0:66e9a0afcbd6 | 177 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 178 | wait(0.5); |
bulmecisco | 0:66e9a0afcbd6 | 179 | } |
bulmecisco | 0:66e9a0afcbd6 | 180 | |
bulmecisco | 0:66e9a0afcbd6 | 181 | void ur_Bertl::NibbleLeds(int value) |
bulmecisco | 0:66e9a0afcbd6 | 182 | { |
bulmecisco | 0:66e9a0afcbd6 | 183 | NibbleLEDs = value%16; |
bulmecisco | 0:66e9a0afcbd6 | 184 | } |
bulmecisco | 0:66e9a0afcbd6 | 185 | |
bulmecisco | 0:66e9a0afcbd6 | 186 | //-----------------INTERNAL USE ONLY ---------------------------- |
bulmecisco | 0:66e9a0afcbd6 | 187 | void ur_Bertl::error() |
bulmecisco | 0:66e9a0afcbd6 | 188 | { |
bulmecisco | 0:66e9a0afcbd6 | 189 | int wait = 500; |
bulmecisco | 0:66e9a0afcbd6 | 190 | MotorR_FORWARD = MotorL_FORWARD = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 191 | MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 192 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 0:66e9a0afcbd6 | 193 | while(1) { |
bulmecisco | 0:66e9a0afcbd6 | 194 | TurnLedOff(0xFF); |
bulmecisco | 0:66e9a0afcbd6 | 195 | LED_D10 = LED_D11 = LED_D12 = LED_D13 = 0; |
bulmecisco | 0:66e9a0afcbd6 | 196 | LED_blue=1; |
bulmecisco | 0:66e9a0afcbd6 | 197 | RGB_blue=RGB_green=RGB_red=1; |
bulmecisco | 0:66e9a0afcbd6 | 198 | wait_ms(wait); |
bulmecisco | 0:66e9a0afcbd6 | 199 | TurnLedOn(0xFF); |
bulmecisco | 0:66e9a0afcbd6 | 200 | LED_D10 = LED_D11 = LED_D12 = LED_D13 = 1; |
bulmecisco | 0:66e9a0afcbd6 | 201 | LED_blue=0; |
bulmecisco | 0:66e9a0afcbd6 | 202 | RGB_blue=RGB_green=1;RGB_red=0; |
bulmecisco | 0:66e9a0afcbd6 | 203 | wait_ms(wait); |
bulmecisco | 0:66e9a0afcbd6 | 204 | } |
bulmecisco | 0:66e9a0afcbd6 | 205 | } |
bulmecisco | 0:66e9a0afcbd6 | 206 | |
bulmecisco | 0:66e9a0afcbd6 | 207 | bool ur_Bertl::frontButtonPressed() |
bulmecisco | 0:66e9a0afcbd6 | 208 | { |
bulmecisco | 0:66e9a0afcbd6 | 209 | char cmd[3]; // array for I2C |
bulmecisco | 0:66e9a0afcbd6 | 210 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 211 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 212 | |
bulmecisco | 0:66e9a0afcbd6 | 213 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 214 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 215 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 216 | |
bulmecisco | 0:66e9a0afcbd6 | 217 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 218 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 219 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 220 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 221 | if( btns & (BTN_FL|BTN_FM|BTN_FR|BTN_FRR|BTN_FLL)) |
bulmecisco | 0:66e9a0afcbd6 | 222 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 223 | else |
bulmecisco | 0:66e9a0afcbd6 | 224 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 225 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 0:66e9a0afcbd6 | 226 | return wert; |
bulmecisco | 0:66e9a0afcbd6 | 227 | } |
bulmecisco | 0:66e9a0afcbd6 | 228 | |
bulmecisco | 0:66e9a0afcbd6 | 229 | // ISR |
bulmecisco | 0:66e9a0afcbd6 | 230 | |
bulmecisco | 0:66e9a0afcbd6 | 231 | void ur_Bertl::increment() |
bulmecisco | 0:66e9a0afcbd6 | 232 | { |
bulmecisco | 0:66e9a0afcbd6 | 233 | _count++; |
bulmecisco | 0:66e9a0afcbd6 | 234 | } |
bulmecisco | 0:66e9a0afcbd6 | 235 | |
bulmecisco | 0:66e9a0afcbd6 | 236 | int ur_Bertl::Read() |
bulmecisco | 0:66e9a0afcbd6 | 237 | { |
bulmecisco | 0:66e9a0afcbd6 | 238 | return _count; |
bulmecisco | 0:66e9a0afcbd6 | 239 | } |
bulmecisco | 0:66e9a0afcbd6 | 240 | |
bulmecisco | 0:66e9a0afcbd6 | 241 | //---------------------------------------------------------------------- |
bulmecisco | 1:fafbac0ba96d | 242 | |
bulmecisco | 0:66e9a0afcbd6 | 243 | bool ur_Bertl::FrontIsClear() |
bulmecisco | 0:66e9a0afcbd6 | 244 | { |
bulmecisco | 1:fafbac0ba96d | 245 | #ifdef HCSR |
bulmecisco | 0:66e9a0afcbd6 | 246 | int dist = 0; |
bulmecisco | 0:66e9a0afcbd6 | 247 | usensor.start(); |
bulmecisco | 0:66e9a0afcbd6 | 248 | wait_ms(10); |
bulmecisco | 0:66e9a0afcbd6 | 249 | dist=usensor.get_dist_cm(); |
bulmecisco | 0:66e9a0afcbd6 | 250 | if(dist < 5) |
bulmecisco | 0:66e9a0afcbd6 | 251 | return false; |
bulmecisco | 0:66e9a0afcbd6 | 252 | else |
bulmecisco | 0:66e9a0afcbd6 | 253 | return true; |
bulmecisco | 1:fafbac0ba96d | 254 | #else |
bulmecisco | 0:66e9a0afcbd6 | 255 | // if there is no ultra sonic sensor use this - with front buttons |
bulmecisco | 0:66e9a0afcbd6 | 256 | char cmd[3]; // array for I2C |
bulmecisco | 0:66e9a0afcbd6 | 257 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 258 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 259 | |
bulmecisco | 0:66e9a0afcbd6 | 260 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 261 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 262 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 263 | |
bulmecisco | 0:66e9a0afcbd6 | 264 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 265 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 266 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 267 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 268 | if( btns & (BTN_FL|BTN_FM|BTN_FR)) |
bulmecisco | 0:66e9a0afcbd6 | 269 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 270 | else |
bulmecisco | 0:66e9a0afcbd6 | 271 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 272 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 0:66e9a0afcbd6 | 273 | return wert; |
bulmecisco | 1:fafbac0ba96d | 274 | #endif |
bulmecisco | 0:66e9a0afcbd6 | 275 | } |
bulmecisco | 0:66e9a0afcbd6 | 276 | |
bulmecisco | 1:fafbac0ba96d | 277 | /* |
bulmecisco | 0:66e9a0afcbd6 | 278 | bool ur_Bertl::NextToABeeper() |
bulmecisco | 0:66e9a0afcbd6 | 279 | { |
bulmecisco | 0:66e9a0afcbd6 | 280 | if (BottomIsBlack()) |
bulmecisco | 0:66e9a0afcbd6 | 281 | return true; |
bulmecisco | 0:66e9a0afcbd6 | 282 | else |
bulmecisco | 0:66e9a0afcbd6 | 283 | return false; |
bulmecisco | 0:66e9a0afcbd6 | 284 | } |
bulmecisco | 0:66e9a0afcbd6 | 285 | |
bulmecisco | 0:66e9a0afcbd6 | 286 | int ur_Bertl::AnyBeeperInBag() |
bulmecisco | 0:66e9a0afcbd6 | 287 | { |
bulmecisco | 0:66e9a0afcbd6 | 288 | if(beepersInBag > 0) |
bulmecisco | 0:66e9a0afcbd6 | 289 | return beepersInBag; |
bulmecisco | 0:66e9a0afcbd6 | 290 | else |
bulmecisco | 0:66e9a0afcbd6 | 291 | return 0; |
bulmecisco | 0:66e9a0afcbd6 | 292 | } |
bulmecisco | 0:66e9a0afcbd6 | 293 | |
bulmecisco | 0:66e9a0afcbd6 | 294 | bool ur_Bertl::backIsClear() |
bulmecisco | 0:66e9a0afcbd6 | 295 | { |
bulmecisco | 0:66e9a0afcbd6 | 296 | char cmd[3]; // array for I2C |
bulmecisco | 0:66e9a0afcbd6 | 297 | int16_t btns; |
bulmecisco | 0:66e9a0afcbd6 | 298 | bool wert; |
bulmecisco | 0:66e9a0afcbd6 | 299 | |
bulmecisco | 0:66e9a0afcbd6 | 300 | cmd[0] = 0x06; |
bulmecisco | 0:66e9a0afcbd6 | 301 | cmd[1] = 0x00; |
bulmecisco | 0:66e9a0afcbd6 | 302 | i2c.write(addr, cmd, 2); |
bulmecisco | 0:66e9a0afcbd6 | 303 | |
bulmecisco | 0:66e9a0afcbd6 | 304 | cmd[0]=0x01; |
bulmecisco | 0:66e9a0afcbd6 | 305 | i2c.write(addr, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 306 | i2c.read(addr|1, cmd, 1); |
bulmecisco | 0:66e9a0afcbd6 | 307 | btns = cmd[0]; |
bulmecisco | 0:66e9a0afcbd6 | 308 | if( btns & (BTN_BL|BTN_BM|BTN_BR)) |
bulmecisco | 0:66e9a0afcbd6 | 309 | wert = false; |
bulmecisco | 0:66e9a0afcbd6 | 310 | else |
bulmecisco | 0:66e9a0afcbd6 | 311 | wert = true; |
bulmecisco | 0:66e9a0afcbd6 | 312 | DEBUG_PRINT("WERT: %d", wert); |
bulmecisco | 0:66e9a0afcbd6 | 313 | return wert; |
bulmecisco | 0:66e9a0afcbd6 | 314 | } |
bulmecisco | 0:66e9a0afcbd6 | 315 | |
bulmecisco | 0:66e9a0afcbd6 | 316 | int ur_Bertl::BottomIsBlack() |
bulmecisco | 0:66e9a0afcbd6 | 317 | { |
bulmecisco | 0:66e9a0afcbd6 | 318 | int detect; |
bulmecisco | 0:66e9a0afcbd6 | 319 | |
bulmecisco | 0:66e9a0afcbd6 | 320 | detect = linesensor; |
bulmecisco | 0:66e9a0afcbd6 | 321 | return detect; |
bulmecisco | 0:66e9a0afcbd6 | 322 | } |
bulmecisco | 0:66e9a0afcbd6 | 323 | |
bulmecisco | 0:66e9a0afcbd6 | 324 | void ur_Bertl::MoveBackwards() |
bulmecisco | 0:66e9a0afcbd6 | 325 | { |
bulmecisco | 0:66e9a0afcbd6 | 326 | int count = _count; |
bulmecisco | 0:66e9a0afcbd6 | 327 | //wait_ms(250); // waite until Bertl stops |
bulmecisco | 0:66e9a0afcbd6 | 328 | MotorR_EN=MotorL_EN=1; // both motor ENABLE |
bulmecisco | 0:66e9a0afcbd6 | 329 | MotorR_REVERSE = MotorL_REVERSE = 1; // both motor backwards ON |
bulmecisco | 0:66e9a0afcbd6 | 330 | while(_count < count+DISTANCE) { |
bulmecisco | 0:66e9a0afcbd6 | 331 | if(!backIsClear()) |
bulmecisco | 0:66e9a0afcbd6 | 332 | break; |
bulmecisco | 0:66e9a0afcbd6 | 333 | DEBUG_PRINT("count: %d _count: %d", count, _count); |
bulmecisco | 0:66e9a0afcbd6 | 334 | } |
bulmecisco | 0:66e9a0afcbd6 | 335 | MotorR_REVERSE = MotorL_REVERSE = 0; // both motor off |
bulmecisco | 0:66e9a0afcbd6 | 336 | MotorR_EN=MotorL_EN=0; |
bulmecisco | 0:66e9a0afcbd6 | 337 | wait_ms(250); |
bulmecisco | 0:66e9a0afcbd6 | 338 | } |
bulmecisco | 0:66e9a0afcbd6 | 339 | */ |