Diff: main.cpp

Revision:

0:2c86b42c096a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jun 06 06:45:30 2016 +0000
@@ -0,0 +1,114 @@
+#include "mbed.h"
+
+DigitalOut Von (P2_13);      // 12 V ON 
+DigitalOut LineON (P2_5);    // Line Sensor aktivieren
+DigitalIn ISO1 (P1_9);       // ISO1
+DigitalIn ISO2 (P0_16);
+DigitalIn ISO3 (P0_23);
+DigitalIn ISO4 (P0_15);
+DigitalIn ISO5 (P1_3);   
+    
+DigitalOut LedD1 (P1_10);      
+DigitalOut LedD2 (P1_11);
+DigitalOut LedD4 (P1_12);
+DigitalOut LedD5 (P1_13);
+DigitalOut LedD6 (P1_14);      
+DigitalOut LedD7 (P1_15);
+DigitalOut LedD8 (P1_16);
+DigitalOut LedD9 (P1_17);
+DigitalOut LedD10 (P1_18);     
+DigitalOut LedD11 (P2_16);
+DigitalOut LedD12 (P1_20);
+DigitalOut LedD13 (P1_21);
+
+PwmOut MotorL_EN(P1_19);
+DigitalOut MotorL_FORWARD(P2_15); // Forwerts  
+DigitalOut MotorL_REVERSE(P2_14); // Rückwerts 
+
+PwmOut MotorR_EN(P2_19);
+DigitalOut MotorR_FORWARD(P2_20); 
+DigitalOut MotorR_REVERSE(P2_21);
+
+int main() {
+    Von=1;
+    LineON=1;
+    MotorL_EN=1;
+    MotorR_EN=1;
+    
+        while(1) {
+    
+            
+            MotorL_FORWARD = 1;
+            MotorR_FORWARD = 1;
+            MotorL_EN.period_ms (10);
+            MotorR_EN.period_ms (10);
+            MotorL_EN = 0.3f;
+            MotorR_EN.pulsewidth_ms(3);
+            MotorR_EN = 0.3f;
+            MotorL_EN.pulsewidth_ms(3);
+        while (1) {
+            MotorL_FORWARD = 1;
+            MotorR_FORWARD = 1;
+            MotorL_EN.period_ms (10);
+            MotorR_EN.period_ms (10);
+            MotorL_EN = 0.3f;
+            MotorR_EN.pulsewidth_ms(3);
+            MotorR_EN = 0.3f;
+            MotorL_EN.pulsewidth_ms(3);
+            LedD1 = 0;
+            LedD4 = 0;
+
+        if(ISO1 ==1){
+            LedD4 = 1;
+            MotorL_EN = 1.0f;
+            MotorR_EN.pulsewidth_ms(10);
+            MotorR_EN = 1.0f;
+            MotorL_EN.pulsewidth_ms(10);
+        MotorL_REVERSE=0;
+        MotorR_REVERSE=0;
+        MotorR_FORWARD=0;
+        MotorL_FORWARD=0;
+        
+        MotorR_FORWARD=1;
+        MotorL_REVERSE=1;
+        wait (0.01);
+        
+        MotorL_REVERSE=0;
+        MotorR_REVERSE=0;
+        MotorR_FORWARD=0;
+        MotorL_FORWARD=0;
+        LedD4 = 0;
+        }
+        
+   
+        
+       
+        
+        if(ISO4 ==1){
+            LedD1 =1;
+            MotorL_EN = 1.0f;
+            MotorR_EN.pulsewidth_ms(10);
+            MotorR_EN = 1.0f;
+            MotorL_EN.pulsewidth_ms(10);
+        MotorL_REVERSE=0;
+        MotorR_REVERSE=0;
+        MotorR_FORWARD=0;
+        MotorL_FORWARD=0;
+        
+        MotorL_FORWARD=1;
+        MotorR_REVERSE=1;
+        wait (0.01);
+        
+        MotorL_REVERSE=0;
+        MotorR_REVERSE=0;
+        MotorR_FORWARD=0;
+        MotorL_FORWARD=0;
+        LedD1 =0;
+        }}
+
+     
+        }}   
+    
+ 
+
+ 
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