Sebastian Gsellmann / Mbed 2 deprecated Lichtsensoren

Bertel verfolgt Linie

Dependencies:   mbed

main.cpp@0:2c86b42c096a, 2016-06-06 (annotated)

Committer:
Gsellmann_Sebastian
Date:
Mon Jun 06 06:45:30 2016 +0000
Revision:
0:2c86b42c096a
Linsensoren Linie verfolgen ?Gsellmann

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gsellmann_Sebastian 0:2c86b42c096a 1 #include "mbed.h"
Gsellmann_Sebastian 0:2c86b42c096a 2
Gsellmann_Sebastian 0:2c86b42c096a 3 DigitalOut Von (P2_13); // 12 V ON
Gsellmann_Sebastian 0:2c86b42c096a 4 DigitalOut LineON (P2_5); // Line Sensor aktivieren
Gsellmann_Sebastian 0:2c86b42c096a 5 DigitalIn ISO1 (P1_9); // ISO1
Gsellmann_Sebastian 0:2c86b42c096a 6 DigitalIn ISO2 (P0_16);
Gsellmann_Sebastian 0:2c86b42c096a 7 DigitalIn ISO3 (P0_23);
Gsellmann_Sebastian 0:2c86b42c096a 8 DigitalIn ISO4 (P0_15);
Gsellmann_Sebastian 0:2c86b42c096a 9 DigitalIn ISO5 (P1_3);
Gsellmann_Sebastian 0:2c86b42c096a 10
Gsellmann_Sebastian 0:2c86b42c096a 11 DigitalOut LedD1 (P1_10);
Gsellmann_Sebastian 0:2c86b42c096a 12 DigitalOut LedD2 (P1_11);
Gsellmann_Sebastian 0:2c86b42c096a 13 DigitalOut LedD4 (P1_12);
Gsellmann_Sebastian 0:2c86b42c096a 14 DigitalOut LedD5 (P1_13);
Gsellmann_Sebastian 0:2c86b42c096a 15 DigitalOut LedD6 (P1_14);
Gsellmann_Sebastian 0:2c86b42c096a 16 DigitalOut LedD7 (P1_15);
Gsellmann_Sebastian 0:2c86b42c096a 17 DigitalOut LedD8 (P1_16);
Gsellmann_Sebastian 0:2c86b42c096a 18 DigitalOut LedD9 (P1_17);
Gsellmann_Sebastian 0:2c86b42c096a 19 DigitalOut LedD10 (P1_18);
Gsellmann_Sebastian 0:2c86b42c096a 20 DigitalOut LedD11 (P2_16);
Gsellmann_Sebastian 0:2c86b42c096a 21 DigitalOut LedD12 (P1_20);
Gsellmann_Sebastian 0:2c86b42c096a 22 DigitalOut LedD13 (P1_21);
Gsellmann_Sebastian 0:2c86b42c096a 23
Gsellmann_Sebastian 0:2c86b42c096a 24 PwmOut MotorL_EN(P1_19);
Gsellmann_Sebastian 0:2c86b42c096a 25 DigitalOut MotorL_FORWARD(P2_15); // Forwerts
Gsellmann_Sebastian 0:2c86b42c096a 26 DigitalOut MotorL_REVERSE(P2_14); // Rückwerts
Gsellmann_Sebastian 0:2c86b42c096a 27
Gsellmann_Sebastian 0:2c86b42c096a 28 PwmOut MotorR_EN(P2_19);
Gsellmann_Sebastian 0:2c86b42c096a 29 DigitalOut MotorR_FORWARD(P2_20);
Gsellmann_Sebastian 0:2c86b42c096a 30 DigitalOut MotorR_REVERSE(P2_21);
Gsellmann_Sebastian 0:2c86b42c096a 31
Gsellmann_Sebastian 0:2c86b42c096a 32 int main() {
Gsellmann_Sebastian 0:2c86b42c096a 33 Von=1;
Gsellmann_Sebastian 0:2c86b42c096a 34 LineON=1;
Gsellmann_Sebastian 0:2c86b42c096a 35 MotorL_EN=1;
Gsellmann_Sebastian 0:2c86b42c096a 36 MotorR_EN=1;
Gsellmann_Sebastian 0:2c86b42c096a 37
Gsellmann_Sebastian 0:2c86b42c096a 38 while(1) {
Gsellmann_Sebastian 0:2c86b42c096a 39
Gsellmann_Sebastian 0:2c86b42c096a 40
Gsellmann_Sebastian 0:2c86b42c096a 41 MotorL_FORWARD = 1;
Gsellmann_Sebastian 0:2c86b42c096a 42 MotorR_FORWARD = 1;
Gsellmann_Sebastian 0:2c86b42c096a 43 MotorL_EN.period_ms (10);
Gsellmann_Sebastian 0:2c86b42c096a 44 MotorR_EN.period_ms (10);
Gsellmann_Sebastian 0:2c86b42c096a 45 MotorL_EN = 0.3f;
Gsellmann_Sebastian 0:2c86b42c096a 46 MotorR_EN.pulsewidth_ms(3);
Gsellmann_Sebastian 0:2c86b42c096a 47 MotorR_EN = 0.3f;
Gsellmann_Sebastian 0:2c86b42c096a 48 MotorL_EN.pulsewidth_ms(3);
Gsellmann_Sebastian 0:2c86b42c096a 49 while (1) {
Gsellmann_Sebastian 0:2c86b42c096a 50 MotorL_FORWARD = 1;
Gsellmann_Sebastian 0:2c86b42c096a 51 MotorR_FORWARD = 1;
Gsellmann_Sebastian 0:2c86b42c096a 52 MotorL_EN.period_ms (10);
Gsellmann_Sebastian 0:2c86b42c096a 53 MotorR_EN.period_ms (10);
Gsellmann_Sebastian 0:2c86b42c096a 54 MotorL_EN = 0.3f;
Gsellmann_Sebastian 0:2c86b42c096a 55 MotorR_EN.pulsewidth_ms(3);
Gsellmann_Sebastian 0:2c86b42c096a 56 MotorR_EN = 0.3f;
Gsellmann_Sebastian 0:2c86b42c096a 57 MotorL_EN.pulsewidth_ms(3);
Gsellmann_Sebastian 0:2c86b42c096a 58 LedD1 = 0;
Gsellmann_Sebastian 0:2c86b42c096a 59 LedD4 = 0;
Gsellmann_Sebastian 0:2c86b42c096a 60
Gsellmann_Sebastian 0:2c86b42c096a 61 if(ISO1 ==1){
Gsellmann_Sebastian 0:2c86b42c096a 62 LedD4 = 1;
Gsellmann_Sebastian 0:2c86b42c096a 63 MotorL_EN = 1.0f;
Gsellmann_Sebastian 0:2c86b42c096a 64 MotorR_EN.pulsewidth_ms(10);
Gsellmann_Sebastian 0:2c86b42c096a 65 MotorR_EN = 1.0f;
Gsellmann_Sebastian 0:2c86b42c096a 66 MotorL_EN.pulsewidth_ms(10);
Gsellmann_Sebastian 0:2c86b42c096a 67 MotorL_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 68 MotorR_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 69 MotorR_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 70 MotorL_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 71
Gsellmann_Sebastian 0:2c86b42c096a 72 MotorR_FORWARD=1;
Gsellmann_Sebastian 0:2c86b42c096a 73 MotorL_REVERSE=1;
Gsellmann_Sebastian 0:2c86b42c096a 74 wait (0.01);
Gsellmann_Sebastian 0:2c86b42c096a 75
Gsellmann_Sebastian 0:2c86b42c096a 76 MotorL_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 77 MotorR_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 78 MotorR_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 79 MotorL_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 80 LedD4 = 0;
Gsellmann_Sebastian 0:2c86b42c096a 81 }
Gsellmann_Sebastian 0:2c86b42c096a 82
Gsellmann_Sebastian 0:2c86b42c096a 83
Gsellmann_Sebastian 0:2c86b42c096a 84
Gsellmann_Sebastian 0:2c86b42c096a 85
Gsellmann_Sebastian 0:2c86b42c096a 86
Gsellmann_Sebastian 0:2c86b42c096a 87 if(ISO4 ==1){
Gsellmann_Sebastian 0:2c86b42c096a 88 LedD1 =1;
Gsellmann_Sebastian 0:2c86b42c096a 89 MotorL_EN = 1.0f;
Gsellmann_Sebastian 0:2c86b42c096a 90 MotorR_EN.pulsewidth_ms(10);
Gsellmann_Sebastian 0:2c86b42c096a 91 MotorR_EN = 1.0f;
Gsellmann_Sebastian 0:2c86b42c096a 92 MotorL_EN.pulsewidth_ms(10);
Gsellmann_Sebastian 0:2c86b42c096a 93 MotorL_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 94 MotorR_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 95 MotorR_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 96 MotorL_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 97
Gsellmann_Sebastian 0:2c86b42c096a 98 MotorL_FORWARD=1;
Gsellmann_Sebastian 0:2c86b42c096a 99 MotorR_REVERSE=1;
Gsellmann_Sebastian 0:2c86b42c096a 100 wait (0.01);
Gsellmann_Sebastian 0:2c86b42c096a 101
Gsellmann_Sebastian 0:2c86b42c096a 102 MotorL_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 103 MotorR_REVERSE=0;
Gsellmann_Sebastian 0:2c86b42c096a 104 MotorR_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 105 MotorL_FORWARD=0;
Gsellmann_Sebastian 0:2c86b42c096a 106 LedD1 =0;
Gsellmann_Sebastian 0:2c86b42c096a 107 }}
Gsellmann_Sebastian 0:2c86b42c096a 108
Gsellmann_Sebastian 0:2c86b42c096a 109
Gsellmann_Sebastian 0:2c86b42c096a 110 }}
Gsellmann_Sebastian 0:2c86b42c096a 111
Gsellmann_Sebastian 0:2c86b42c096a 112
Gsellmann_Sebastian 0:2c86b42c096a 113
Gsellmann_Sebastian 0:2c86b42c096a 114