Revision 1:fafbac0ba96d, committed 2015-03-19

Comitter:

bulmecisco

Date:

Thu Mar 19 19:12:33 2015 +0000

Parent:

0:66e9a0afcbd6

Child:

2:1cd559ff516b

Commit message:

FrontIsClear() with ultrasonic sensor added

Changed in this revision

--- a/config.h	Thu Feb 26 10:12:06 2015 +0000
+++ b/config.h	Thu Mar 19 19:12:33 2015 +0000
@@ -16,7 +16,8 @@
 /*! \def DEBUG
 \brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */
 #define DEBUG 0
-//#define FRONTBUTTON
+#define FRONTBUTTON     /**< Error shutoff if Bertl moves against a wall*/
+#define HCSR            /**< if ultrsonic is installed*/
 
 BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11);   /**< 4 yellow LEDs as a bus defined */
 DigitalOut LED_D10(P1_8);    /**<  wiring first LED_D10 */

--- a/const.h	Thu Feb 26 10:12:06 2015 +0000
+++ b/const.h	Thu Mar 19 19:12:33 2015 +0000
@@ -44,6 +44,8 @@
 const int LED_ALL_BACK = 0xF0;
 const int LED_ALL = 0xFF;
 
+const int LED_BLUE = 0xBB;
+
 const int addr = 0x40;       // I2C-address PCA9555
 const int PERIOD = 20;       // PWM period
 const int PULSWIDTH = 5;     // PWN pulswidth

--- a/ur_Bertl.cpp	Thu Feb 26 10:12:06 2015 +0000
+++ b/ur_Bertl.cpp	Thu Mar 19 19:12:33 2015 +0000
@@ -140,6 +140,13 @@
 {
     char cmd[3];
 
+    if(led == 0xBB) {
+        LED_blue=0;
+        return;
+    } else if (led == 0xFF) {
+        RGBLed(1,1,1);
+        LED_blue=0;
+    }
     cmd[0] = 0x02;
     cmd[1] = ~led;
     i2c.write(addr, cmd, 2);
@@ -149,7 +156,13 @@
 void ur_Bertl::TurnLedOff(int16_t led)
 {
     char cmd[3];
-
+    if(led == 0xBB) {
+        LED_blue=1;
+        return;
+    } else if (led == 0xFF) {
+        RGBLed(0,0,0);      //don't work?
+        LED_blue=1;
+    }
     cmd[0] = 0x02;
     cmd[1] = led;
     i2c.write(addr, cmd, 2);
@@ -217,9 +230,10 @@
 }
 
 //----------------------------------------------------------------------
-/*
+
 bool ur_Bertl::FrontIsClear()
 {
+#ifdef HCSR
     int dist = 0;
     usensor.start();
     wait_ms(10);
@@ -228,8 +242,7 @@
         return false;
     else
         return true;
-    DEBUG_PRINT("Distance: %d", dist);
-
+#else
 // if there is no ultra sonic sensor use this - with front buttons
     char cmd[3];            // array for I2C
     int16_t btns;
@@ -249,9 +262,10 @@
         wert = true;
     DEBUG_PRINT("WERT: %d", wert);
     return wert;
+#endif
 }
 
-
+/*
 bool ur_Bertl::NextToABeeper()
 {
     if (BottomIsBlack())

--- a/ur_Bertl.h	Thu Feb 26 10:12:06 2015 +0000
+++ b/ur_Bertl.h	Thu Mar 19 19:12:33 2015 +0000
@@ -116,6 +116,7 @@
     void TurnLeft();            /**< Robot turns left as much as the constant ANGLE*/      
     void PutBeeper();           /**< if Robot has any Beepers in his bag he can put one or more Beeper; if not --> Error(()*/  
     void PickBeeper();          /**< if Robot stands on a black item he can pick one or more Beeper (max. 16 --> Error()); if not --> Error()*/   
+    bool FrontIsClear();        /**< returns a boolean value true if front is free; if not false */ 
     void NibbleLeds(int value); /**< methode for the 4 (half byte) yellow LEDs at the back left side */
     void TurnLedOn(int16_t led);/**< turns the specified one or more LEDs ON; description and name in const.h, such as LED_FL1 = 0x01; front LED white */
     void TurnLedOff(int16_t led);/**< turns the specified one or more LEDs OFF; description and name in const.h, such as LED_FL1 = 0x01; front LED white */