Sebastian Gsellmann
/
Lichtsensoren
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Revision 0:2c86b42c096a, committed 2016-06-06
- Comitter:
- Gsellmann_Sebastian
- Date:
- Mon Jun 06 06:45:30 2016 +0000
- Commit message:
- Linsensoren Linie verfolgen ?Gsellmann
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
--- /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;
+ }}
+
+
+ }}
+
+
+
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jun 06 06:45:30 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/6c34061e7c34 \ No newline at end of file