Diff: main.cpp

Revision:

0:9f717595fa8b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 21 14:31:11 2015 +0000
@@ -0,0 +1,97 @@
+#include "mbed.h"
+#include "const.h"
+#include "Robot.h"
+#include "ur_Bertl.h"
+Robot bertl;
+bool Ultraschallsensor ()
+{
+    if(bertl.FrontIsClear())
+    {
+        return true;
+    }
+    else 
+    {
+        return false;
+    }
+        
+}
+void Alarmblinkanlage ()
+{
+    bertl.TurnLedOn(LED_ALL_FRONT);
+    bertl.TurnLedOn(LED_ALL_BACK);
+    wait(0.1);
+    bertl.TurnLedOff(LED_ALL_FRONT);
+    bertl.TurnLedOff(LED_ALL_BACK);
+            
+}
+void FrontscheinwerferAn ()
+{
+    bertl.TurnLedOn(LED_FL1); 
+    bertl.TurnLedOn(LED_FR1);    
+}
+void FrontscheinwerferAus ()
+{
+    bertl.TurnLedOff(LED_FL1); 
+    bertl.TurnLedOff(LED_FR1); 
+}
+
+
+
+void BlinkenLinks()
+{ 
+ int a=0;
+ int b=1;
+    while(a<b)
+    {
+        bertl.TurnLedOn(LED_BL1);
+        bertl.TurnLedOn(LED_FL2);
+        wait(0.1);
+        bertl.TurnLedOff(LED_BL1);
+        bertl.TurnLedOff(LED_FL2);
+        a++;
+    }
+}
+
+
+void BlinkenRechts()
+{
+     int a=0;
+     int b=1;
+    while(a<b)
+    {
+        bertl.TurnLedOn(LED_FR2);
+        bertl.TurnLedOn(LED_BR2);
+        wait(0.1);
+        bertl.TurnLedOff(LED_FR2);
+        bertl.TurnLedOff(LED_BR2);
+        a++;
+    }
+}
+
+
+
+int main() 
+{
+   
+   
+    while(1)
+    {
+        
+    
+        if(Ultraschallsensor()) 
+        {
+            Alarmblinkanlage();
+            bertl.MoveBackwards();
+            BlinkenLinks();
+            bertl.TurnLeft();
+            bertl.Move();
+            BlinkenRechts();
+            bertl.TurnRigth();
+        }
+        else
+        {
+            bertl.Move();
+        }
+        
+    }
+}