florian schriebl / Mbed 2 deprecated DIC_Pruefung_Bienentanz

Prüfung

Dependencies:   bertl14 mbed

main.cpp@0:b050d3fef5fb, 2016-06-20 (annotated)

Committer:
Nutria
Date:
Mon Jun 20 13:00:04 2016 +0000
Revision:
0:b050d3fef5fb
Pr?fung

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nutria 0:b050d3fef5fb 1 #include "mbed.h"
Nutria 0:b050d3fef5fb 2 #include "bertl14.h"
Nutria 0:b050d3fef5fb 3 // Lassen Sie ihn schräg starten
Nutria 0:b050d3fef5fb 4 unsigned taster; // Taster Variable
Nutria 0:b050d3fef5fb 5 DigitalOut led1(LED1);
Nutria 0:b050d3fef5fb 6 int main()
Nutria 0:b050d3fef5fb 7 {
Nutria 0:b050d3fef5fb 8 bertl_PC9555_init();
Nutria 0:b050d3fef5fb 9 while(1) {
Nutria 0:b050d3fef5fb 10
Nutria 0:b050d3fef5fb 11
Nutria 0:b050d3fef5fb 12 taster = bertl_PC9555_switches(); // Ob Taster gedrückt sind
Nutria 0:b050d3fef5fb 13
Nutria 0:b050d3fef5fb 14 if (taster == TASTER_F) { // Wenn eine vordere Taste gedrückt wurde bleibt er 1 sec. stehen
Nutria 0:b050d3fef5fb 15 bertl_engine(0,0);
Nutria 0:b050d3fef5fb 16 wait (1.0);
Nutria 0:b050d3fef5fb 17 } else {
Nutria 0:b050d3fef5fb 18 for (int i=0; i <6; i++)
Nutria 0:b050d3fef5fb 19 {
Nutria 0:b050d3fef5fb 20
Nutria 0:b050d3fef5fb 21 bertl_engine(100,100);
Nutria 0:b050d3fef5fb 22 wait(0.3);
Nutria 0:b050d3fef5fb 23 bertl_PC9555_leds(LED_F_ALL);
Nutria 0:b050d3fef5fb 24 bertl_engine(0,100); // Ausgleich da rechter Motor schwächer als links
Nutria 0:b050d3fef5fb 25 wait(0.6);
Nutria 0:b050d3fef5fb 26 bertl_PC9555_leds(LED_OFF);
Nutria 0:b050d3fef5fb 27 bertl_engine(100,100);
Nutria 0:b050d3fef5fb 28 wait(0.3);
Nutria 0:b050d3fef5fb 29 bertl_PC9555_leds(LED_F_ALL);
Nutria 0:b050d3fef5fb 30 bertl_engine(100,0);
Nutria 0:b050d3fef5fb 31 wait(0.49);
Nutria 0:b050d3fef5fb 32 bertl_PC9555_leds(LED_OFF);
Nutria 0:b050d3fef5fb 33 }
Nutria 0:b050d3fef5fb 34 bertl_engine(-100,100); // Vorbereitung für Halbreis zum Ausgangspunkt
Nutria 0:b050d3fef5fb 35 wait(0.4);
Nutria 0:b050d3fef5fb 36 bertl_engine(60,100); // Halbkreis
Nutria 0:b050d3fef5fb 37 wait(12.0);
Nutria 0:b050d3fef5fb 38 bertl_engine(-100,100);
Nutria 0:b050d3fef5fb 39 wait(0.4); // in Startposition bringen
Nutria 0:b050d3fef5fb 40 }
Nutria 0:b050d3fef5fb 41 }
Nutria 0:b050d3fef5fb 42 }
Nutria 0:b050d3fef5fb 43