Diff: main.cpp

Revision:

0:9a3e7847a4be

Child:

1:1adf5dfcc7bb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 09 19:26:46 2018 +0000
@@ -0,0 +1,72 @@
+#include <mbed.h>
+
+#include "EncoderCounter.h"
+#include "Controller.h"
+#include "IRSensor.h"
+
+//Sensor I/O:
+    
+    AnalogIn lineSensor(PA_0);
+    AnalogIn distance1(PA_1);
+    AnalogIn distance2(PA_4);
+    AnalogIn distance3(PB_0);
+
+    IRSensor irSensorL (distance1);
+    IRSensor irSensorC (distance2);
+    IRSensor irSensorR (distance3);
+
+//Motor I/O:
+    DigitalOut myled(LED1);
+    
+    DigitalOut enableMotorDriver(PB_2);
+    
+    DigitalIn motorDriverFault(PB_14);
+    DigitalIn motorDriverWarning(PB_15);
+    
+    PwmOut pwmLeft(PA_8);
+    PwmOut pwmRight(PA_9);
+    
+    EncoderCounter counterLeft(PB_6, PB_7);
+    EncoderCounter counterRight(PA_6, PC_7);
+    
+    Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
+
+int main() {
+    
+/* Micromouse Test */
+
+
+    //Sensoren
+    while(1) {
+        
+        float distanceL = irSensorL.read();
+        float distanceC = irSensorC.read();
+        float distanceR = irSensorR.read();
+        printf("Rechts: %f  Mitte: %f  Links: %f  Line: %f\n", 
+                distanceL, distanceC, distanceR, lineSensor);
+        
+        wait(0.5f);
+    }
+    
+    //Motoren
+    while(0) {
+        
+        controller.setDesiredSpeedLeft(50.0f); //Drehzahl in [rpm]
+        controller.setDesiredSpeedRIght(50.0f);
+        enableMotorDriver = 1; //Schaltet  den Leistungstreiber ein
+            while(1) {
+        
+                myled =! myled;
+                wait(0.1f); //200 ms
+            }
+        
+    }
+
+}
+
+
+    
+
+
+        
+        
\ No newline at end of file