Alexander Welz / Mbed 2 deprecated bertl16_cross_Welz

Bertl16-cross

Dependencies:   mbed

main.cpp@0:41f8d348b90d, 2016-06-16 (annotated)

Committer:
WelzAlex
Date:
Thu Jun 16 16:43:31 2016 +0000
Revision:
0:41f8d348b90d
forward-->back-->turn right-->forward-->back-->turn left-->back-->forward-->turn right-->back-->forward-->turn left (loop)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
WelzAlex 0:41f8d348b90d 1 //while(1){ VOR (weiss)_ZURUECK(rot)_RECHTS(blinker) }
WelzAlex 0:41f8d348b90d 2
WelzAlex 0:41f8d348b90d 3 #include "mbed.h"
WelzAlex 0:41f8d348b90d 4
WelzAlex 0:41f8d348b90d 5
WelzAlex 0:41f8d348b90d 6 DigitalOut Von(P2_13); // 12V on
WelzAlex 0:41f8d348b90d 7 // Definition der 12 LED's
WelzAlex 0:41f8d348b90d 8 DigitalOut WSLI(P1_10); //wsS links D1
WelzAlex 0:41f8d348b90d 9 DigitalOut WSRE(P1_12); //wsS rechts D4
WelzAlex 0:41f8d348b90d 10 DigitalOut GELIVO (P1_11); //ge links vorn D2
WelzAlex 0:41f8d348b90d 11 DigitalOut GEREVO (P1_13); //ge rechts vorn D5
WelzAlex 0:41f8d348b90d 12 DigitalOut GELIHI(P1_14); //ge links hinten D6
WelzAlex 0:41f8d348b90d 13 DigitalOut RTLIHI(P1_15); // rt links hinbten D7
WelzAlex 0:41f8d348b90d 14 DigitalOut GEREHI(P1_16); //ge rechts hinten D8
WelzAlex 0:41f8d348b90d 15 DigitalOut RTREHI(P1_17); //rt rechts hinten D9
WelzAlex 0:41f8d348b90d 16
WelzAlex 0:41f8d348b90d 17 DigitalOut ledD10 (P1_18);
WelzAlex 0:41f8d348b90d 18 DigitalOut ledD11 (P2_16);
WelzAlex 0:41f8d348b90d 19 DigitalOut ledD12 (P1_20);
WelzAlex 0:41f8d348b90d 20 DigitalOut ledD13 (P1_21);
WelzAlex 0:41f8d348b90d 21
WelzAlex 0:41f8d348b90d 22 // LDR
WelzAlex 0:41f8d348b90d 23 AnalogIn LDR(P0_14);
WelzAlex 0:41f8d348b90d 24 // RGB LED
WelzAlex 0:41f8d348b90d 25 DigitalOut RGB(P1_22);
WelzAlex 0:41f8d348b90d 26 // Motor Steuerung Schaltung Pg 2
WelzAlex 0:41f8d348b90d 27 DigitalOut MG1_EN(P2_16);// NUR DIGITAL ohne PWM ! ! !
WelzAlex 0:41f8d348b90d 28 DigitalOut MG1_F(P2_15);
WelzAlex 0:41f8d348b90d 29 DigitalOut MG1_R(P2_14);
WelzAlex 0:41f8d348b90d 30 DigitalOut MG2_EN(P2_19);
WelzAlex 0:41f8d348b90d 31 DigitalOut MG2_F(P2_20);
WelzAlex 0:41f8d348b90d 32 DigitalOut MG2_R(P2_21);
WelzAlex 0:41f8d348b90d 33 //ULTRASCHALL ABSTANDSMESSER
WelzAlex 0:41f8d348b90d 34 DigitalOut TRIG(P2_22);
WelzAlex 0:41f8d348b90d 35 DigitalIn ECHO(P2_23);
WelzAlex 0:41f8d348b90d 36 // Definition der Taster **************** Schaltplan Pg5
WelzAlex 0:41f8d348b90d 37 DigitalIn TA1(P1_23); //TA1
WelzAlex 0:41f8d348b90d 38 DigitalIn TA2(P1_24); //
WelzAlex 0:41f8d348b90d 39 DigitalIn TA3(P1_25); //
WelzAlex 0:41f8d348b90d 40 DigitalIn TA4(P1_26); //
WelzAlex 0:41f8d348b90d 41 DigitalIn TA5(P1_27); //
WelzAlex 0:41f8d348b90d 42 DigitalIn TA6(P1_28); //
WelzAlex 0:41f8d348b90d 43 DigitalIn TA7(P1_30); //
WelzAlex 0:41f8d348b90d 44 DigitalIn TA8(P1_31); //
WelzAlex 0:41f8d348b90d 45 // INCREMENTGEBER *********************** Schaltplan Pg 6
WelzAlex 0:41f8d348b90d 46 DigitalOut EN_INCR (P2_2); //Incrementgeber Enable
WelzAlex 0:41f8d348b90d 47 DigitalIn INCR_L1 (P2_6);
WelzAlex 0:41f8d348b90d 48 DigitalIn INCR_L2 (P2_7);
WelzAlex 0:41f8d348b90d 49 DigitalIn INCR_R1 (P2_8);
WelzAlex 0:41f8d348b90d 50 DigitalIn INCR_R2 (P2_9);
WelzAlex 0:41f8d348b90d 51 // LINE SENSOR *************************** Schaltplan Pg 7
WelzAlex 0:41f8d348b90d 52 DigitalOut EN_Line (P2_5); //Enable LINE Sensor
WelzAlex 0:41f8d348b90d 53 DigitalIn ISO1 (P1_9); // Statt ANALOG hier DIGITAL
WelzAlex 0:41f8d348b90d 54 DigitalIn ISO2 (P0_23); // nur für einfachen TEST!
WelzAlex 0:41f8d348b90d 55 DigitalIn ISO3 (P0_16);
WelzAlex 0:41f8d348b90d 56 DigitalIn ISO4 (P0_15);
WelzAlex 0:41f8d348b90d 57 DigitalIn ISO5 (P1_3);
WelzAlex 0:41f8d348b90d 58 // Blue LED ****************************** Schaltplan Pg 8
WelzAlex 0:41f8d348b90d 59 DigitalOut LedBl (P1_5);
WelzAlex 0:41f8d348b90d 60
WelzAlex 0:41f8d348b90d 61
WelzAlex 0:41f8d348b90d 62
WelzAlex 0:41f8d348b90d 63
WelzAlex 0:41f8d348b90d 64 int main()
WelzAlex 0:41f8d348b90d 65 {
WelzAlex 0:41f8d348b90d 66
WelzAlex 0:41f8d348b90d 67
WelzAlex 0:41f8d348b90d 68 //ALLE LEDS aus
WelzAlex 0:41f8d348b90d 69 GELIHI=1; //Gelb links hinten
WelzAlex 0:41f8d348b90d 70 GEREHI=1;//gelb rehts hinten
WelzAlex 0:41f8d348b90d 71 RTREHI=1;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 72 RTLIHI=1; //rot links hinten
WelzAlex 0:41f8d348b90d 73 GELIVO=1;//gelb links vorne
WelzAlex 0:41f8d348b90d 74 GEREVO=1;//gelb rechts hinten
WelzAlex 0:41f8d348b90d 75 WSLI=1;//weiss links vorne
WelzAlex 0:41f8d348b90d 76 WSRE=1;//weiss rechts vorne
WelzAlex 0:41f8d348b90d 77 ledD10=1;
WelzAlex 0:41f8d348b90d 78 ledD11=1;
WelzAlex 0:41f8d348b90d 79 ledD13=1;
WelzAlex 0:41f8d348b90d 80 ledD12=1;
WelzAlex 0:41f8d348b90d 81
WelzAlex 0:41f8d348b90d 82 Von =1;
WelzAlex 0:41f8d348b90d 83 MG1_EN=MG2_EN=1;
WelzAlex 0:41f8d348b90d 84
WelzAlex 0:41f8d348b90d 85
WelzAlex 0:41f8d348b90d 86
WelzAlex 0:41f8d348b90d 87
WelzAlex 0:41f8d348b90d 88
WelzAlex 0:41f8d348b90d 89 while(1)//Hauptschleife
WelzAlex 0:41f8d348b90d 90 {
WelzAlex 0:41f8d348b90d 91
WelzAlex 0:41f8d348b90d 92 int c=0;
WelzAlex 0:41f8d348b90d 93 int d=0;
WelzAlex 0:41f8d348b90d 94 int e=0;
WelzAlex 0:41f8d348b90d 95 int f=0;
WelzAlex 0:41f8d348b90d 96
WelzAlex 0:41f8d348b90d 97 //1 Schleife (vor-zurück-90°rechts)
WelzAlex 0:41f8d348b90d 98 while(c<1)
WelzAlex 0:41f8d348b90d 99 {
WelzAlex 0:41f8d348b90d 100
WelzAlex 0:41f8d348b90d 101
WelzAlex 0:41f8d348b90d 102
WelzAlex 0:41f8d348b90d 103 int i = 0;
WelzAlex 0:41f8d348b90d 104 int a = 0;
WelzAlex 0:41f8d348b90d 105 int b = 0;
WelzAlex 0:41f8d348b90d 106
WelzAlex 0:41f8d348b90d 107 MG1_F=MG2_F=1;
WelzAlex 0:41f8d348b90d 108
WelzAlex 0:41f8d348b90d 109 //LED links nach rechts
WelzAlex 0:41f8d348b90d 110 while(i<1)
WelzAlex 0:41f8d348b90d 111 {
WelzAlex 0:41f8d348b90d 112
WelzAlex 0:41f8d348b90d 113 WSLI=0;
WelzAlex 0:41f8d348b90d 114 WSRE=0;
WelzAlex 0:41f8d348b90d 115 ledD10=0;
WelzAlex 0:41f8d348b90d 116 wait (0.2);
WelzAlex 0:41f8d348b90d 117 ledD10=1;
WelzAlex 0:41f8d348b90d 118
WelzAlex 0:41f8d348b90d 119
WelzAlex 0:41f8d348b90d 120
WelzAlex 0:41f8d348b90d 121 ledD11=0;
WelzAlex 0:41f8d348b90d 122 wait (0.2);
WelzAlex 0:41f8d348b90d 123 ledD11=1;
WelzAlex 0:41f8d348b90d 124
WelzAlex 0:41f8d348b90d 125
WelzAlex 0:41f8d348b90d 126
WelzAlex 0:41f8d348b90d 127
WelzAlex 0:41f8d348b90d 128 ledD13=0;
WelzAlex 0:41f8d348b90d 129 wait (0.2);
WelzAlex 0:41f8d348b90d 130 ledD13=1;
WelzAlex 0:41f8d348b90d 131
WelzAlex 0:41f8d348b90d 132
WelzAlex 0:41f8d348b90d 133
WelzAlex 0:41f8d348b90d 134 ledD12=0;
WelzAlex 0:41f8d348b90d 135 wait (0.2);
WelzAlex 0:41f8d348b90d 136 ledD12=1;
WelzAlex 0:41f8d348b90d 137
WelzAlex 0:41f8d348b90d 138 WSLI=1;
WelzAlex 0:41f8d348b90d 139 WSRE=1;
WelzAlex 0:41f8d348b90d 140
WelzAlex 0:41f8d348b90d 141 i++;
WelzAlex 0:41f8d348b90d 142 }
WelzAlex 0:41f8d348b90d 143
WelzAlex 0:41f8d348b90d 144
WelzAlex 0:41f8d348b90d 145 MG1_F=MG2_F=0;
WelzAlex 0:41f8d348b90d 146 wait(0.1);
WelzAlex 0:41f8d348b90d 147 MG1_R=MG2_R=1;
WelzAlex 0:41f8d348b90d 148
WelzAlex 0:41f8d348b90d 149
WelzAlex 0:41f8d348b90d 150 //LED rechts nach links
WelzAlex 0:41f8d348b90d 151 while(a<1)
WelzAlex 0:41f8d348b90d 152 {
WelzAlex 0:41f8d348b90d 153
WelzAlex 0:41f8d348b90d 154 RTREHI=0;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 155 RTLIHI=0; //rot links hinten
WelzAlex 0:41f8d348b90d 156
WelzAlex 0:41f8d348b90d 157 ledD12=0;
WelzAlex 0:41f8d348b90d 158 wait (0.2);
WelzAlex 0:41f8d348b90d 159 ledD12=1;
WelzAlex 0:41f8d348b90d 160
WelzAlex 0:41f8d348b90d 161
WelzAlex 0:41f8d348b90d 162
WelzAlex 0:41f8d348b90d 163 ledD13=0;
WelzAlex 0:41f8d348b90d 164 wait (0.2);
WelzAlex 0:41f8d348b90d 165 ledD13=1;
WelzAlex 0:41f8d348b90d 166
WelzAlex 0:41f8d348b90d 167
WelzAlex 0:41f8d348b90d 168
WelzAlex 0:41f8d348b90d 169
WelzAlex 0:41f8d348b90d 170 ledD11=0;
WelzAlex 0:41f8d348b90d 171 wait (0.2);
WelzAlex 0:41f8d348b90d 172 ledD11=1;
WelzAlex 0:41f8d348b90d 173
WelzAlex 0:41f8d348b90d 174
WelzAlex 0:41f8d348b90d 175
WelzAlex 0:41f8d348b90d 176 ledD10=0;
WelzAlex 0:41f8d348b90d 177 wait(0.2);
WelzAlex 0:41f8d348b90d 178 ledD10=1;
WelzAlex 0:41f8d348b90d 179
WelzAlex 0:41f8d348b90d 180 RTREHI=1;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 181 RTLIHI=1; //rot links hinten
WelzAlex 0:41f8d348b90d 182
WelzAlex 0:41f8d348b90d 183 a++;
WelzAlex 0:41f8d348b90d 184 }
WelzAlex 0:41f8d348b90d 185
WelzAlex 0:41f8d348b90d 186
WelzAlex 0:41f8d348b90d 187
WelzAlex 0:41f8d348b90d 188 MG1_R=MG2_R=0;
WelzAlex 0:41f8d348b90d 189 wait(0.75);
WelzAlex 0:41f8d348b90d 190
WelzAlex 0:41f8d348b90d 191 //Blinker Rechts Vorn/Hinten
WelzAlex 0:41f8d348b90d 192 while(b<2)
WelzAlex 0:41f8d348b90d 193 {
WelzAlex 0:41f8d348b90d 194 GEREVO=0;
WelzAlex 0:41f8d348b90d 195 GEREHI=0;
WelzAlex 0:41f8d348b90d 196 wait(0.05);
WelzAlex 0:41f8d348b90d 197 GEREVO=1;
WelzAlex 0:41f8d348b90d 198 GEREHI=1;
WelzAlex 0:41f8d348b90d 199 wait(0.05);
WelzAlex 0:41f8d348b90d 200 GEREVO=0;
WelzAlex 0:41f8d348b90d 201 GEREHI=0;
WelzAlex 0:41f8d348b90d 202 wait(0.05);
WelzAlex 0:41f8d348b90d 203 GEREVO=1;
WelzAlex 0:41f8d348b90d 204 GEREHI=1;
WelzAlex 0:41f8d348b90d 205 wait(0.05);
WelzAlex 0:41f8d348b90d 206 GEREVO=0;
WelzAlex 0:41f8d348b90d 207 GEREHI=0;
WelzAlex 0:41f8d348b90d 208 wait(0.05);
WelzAlex 0:41f8d348b90d 209 GEREVO=1;
WelzAlex 0:41f8d348b90d 210 GEREHI=1;
WelzAlex 0:41f8d348b90d 211 wait(0.05);
WelzAlex 0:41f8d348b90d 212 b++;
WelzAlex 0:41f8d348b90d 213 }
WelzAlex 0:41f8d348b90d 214
WelzAlex 0:41f8d348b90d 215 //90° Drehung (rechts)
WelzAlex 0:41f8d348b90d 216 MG1_F=MG2_R=1;
WelzAlex 0:41f8d348b90d 217
WelzAlex 0:41f8d348b90d 218 wait(0.5555555);
WelzAlex 0:41f8d348b90d 219
WelzAlex 0:41f8d348b90d 220 MG1_F=MG2_R=0;
WelzAlex 0:41f8d348b90d 221 wait(0.5);
WelzAlex 0:41f8d348b90d 222
WelzAlex 0:41f8d348b90d 223 c++;
WelzAlex 0:41f8d348b90d 224 }
WelzAlex 0:41f8d348b90d 225
WelzAlex 0:41f8d348b90d 226
WelzAlex 0:41f8d348b90d 227
WelzAlex 0:41f8d348b90d 228
WelzAlex 0:41f8d348b90d 229
WelzAlex 0:41f8d348b90d 230
WelzAlex 0:41f8d348b90d 231 //2 Schleife (vor-zurück-90°links)
WelzAlex 0:41f8d348b90d 232 while(d<1)
WelzAlex 0:41f8d348b90d 233 {
WelzAlex 0:41f8d348b90d 234 int i = 0;
WelzAlex 0:41f8d348b90d 235 int a = 0;
WelzAlex 0:41f8d348b90d 236 int b = 0;
WelzAlex 0:41f8d348b90d 237 MG1_F=MG2_F=1;
WelzAlex 0:41f8d348b90d 238
WelzAlex 0:41f8d348b90d 239 //LED links nach rechts
WelzAlex 0:41f8d348b90d 240 while(i<1)
WelzAlex 0:41f8d348b90d 241 {
WelzAlex 0:41f8d348b90d 242
WelzAlex 0:41f8d348b90d 243 WSLI=0;
WelzAlex 0:41f8d348b90d 244 WSRE=0;
WelzAlex 0:41f8d348b90d 245 ledD10=0;
WelzAlex 0:41f8d348b90d 246 wait (0.2);
WelzAlex 0:41f8d348b90d 247 ledD10=1;
WelzAlex 0:41f8d348b90d 248
WelzAlex 0:41f8d348b90d 249
WelzAlex 0:41f8d348b90d 250
WelzAlex 0:41f8d348b90d 251 ledD11=0;
WelzAlex 0:41f8d348b90d 252 wait (0.2);
WelzAlex 0:41f8d348b90d 253 ledD11=1;
WelzAlex 0:41f8d348b90d 254
WelzAlex 0:41f8d348b90d 255
WelzAlex 0:41f8d348b90d 256
WelzAlex 0:41f8d348b90d 257
WelzAlex 0:41f8d348b90d 258 ledD13=0;
WelzAlex 0:41f8d348b90d 259 wait (0.2);
WelzAlex 0:41f8d348b90d 260 ledD13=1;
WelzAlex 0:41f8d348b90d 261
WelzAlex 0:41f8d348b90d 262
WelzAlex 0:41f8d348b90d 263
WelzAlex 0:41f8d348b90d 264 ledD12=0;
WelzAlex 0:41f8d348b90d 265 wait (0.2);
WelzAlex 0:41f8d348b90d 266 ledD12=1;
WelzAlex 0:41f8d348b90d 267
WelzAlex 0:41f8d348b90d 268 WSLI=1;
WelzAlex 0:41f8d348b90d 269 WSRE=1;
WelzAlex 0:41f8d348b90d 270
WelzAlex 0:41f8d348b90d 271 i++;
WelzAlex 0:41f8d348b90d 272 }
WelzAlex 0:41f8d348b90d 273
WelzAlex 0:41f8d348b90d 274
WelzAlex 0:41f8d348b90d 275 MG1_F=MG2_F=0;
WelzAlex 0:41f8d348b90d 276 wait(0.1);
WelzAlex 0:41f8d348b90d 277 MG1_R=MG2_R=1;
WelzAlex 0:41f8d348b90d 278
WelzAlex 0:41f8d348b90d 279
WelzAlex 0:41f8d348b90d 280 //LED rechts nach links
WelzAlex 0:41f8d348b90d 281 while(a<1)
WelzAlex 0:41f8d348b90d 282 {
WelzAlex 0:41f8d348b90d 283
WelzAlex 0:41f8d348b90d 284 RTREHI=0;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 285 RTLIHI=0; //rot links hinten
WelzAlex 0:41f8d348b90d 286
WelzAlex 0:41f8d348b90d 287 ledD12=0;
WelzAlex 0:41f8d348b90d 288 wait (0.2);
WelzAlex 0:41f8d348b90d 289 ledD12=1;
WelzAlex 0:41f8d348b90d 290
WelzAlex 0:41f8d348b90d 291
WelzAlex 0:41f8d348b90d 292
WelzAlex 0:41f8d348b90d 293 ledD13=0;
WelzAlex 0:41f8d348b90d 294 wait (0.2);
WelzAlex 0:41f8d348b90d 295 ledD13=1;
WelzAlex 0:41f8d348b90d 296
WelzAlex 0:41f8d348b90d 297
WelzAlex 0:41f8d348b90d 298
WelzAlex 0:41f8d348b90d 299
WelzAlex 0:41f8d348b90d 300 ledD11=0;
WelzAlex 0:41f8d348b90d 301 wait (0.2);
WelzAlex 0:41f8d348b90d 302 ledD11=1;
WelzAlex 0:41f8d348b90d 303
WelzAlex 0:41f8d348b90d 304
WelzAlex 0:41f8d348b90d 305
WelzAlex 0:41f8d348b90d 306 ledD10=0;
WelzAlex 0:41f8d348b90d 307 wait(0.2);
WelzAlex 0:41f8d348b90d 308 ledD10=1;
WelzAlex 0:41f8d348b90d 309
WelzAlex 0:41f8d348b90d 310 RTREHI=1;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 311 RTLIHI=1; //rot links hinten
WelzAlex 0:41f8d348b90d 312
WelzAlex 0:41f8d348b90d 313 a++;
WelzAlex 0:41f8d348b90d 314 }
WelzAlex 0:41f8d348b90d 315
WelzAlex 0:41f8d348b90d 316
WelzAlex 0:41f8d348b90d 317
WelzAlex 0:41f8d348b90d 318 MG1_R=MG2_R=0;
WelzAlex 0:41f8d348b90d 319 wait(0.75);
WelzAlex 0:41f8d348b90d 320
WelzAlex 0:41f8d348b90d 321 //Blinker Links Vorn/Hinten
WelzAlex 0:41f8d348b90d 322 while(b<2)
WelzAlex 0:41f8d348b90d 323 {
WelzAlex 0:41f8d348b90d 324 GELIVO=0;
WelzAlex 0:41f8d348b90d 325 GELIHI=0;
WelzAlex 0:41f8d348b90d 326 wait(0.05);
WelzAlex 0:41f8d348b90d 327 GELIVO=1;
WelzAlex 0:41f8d348b90d 328 GELIHI=1;
WelzAlex 0:41f8d348b90d 329 wait(0.05);
WelzAlex 0:41f8d348b90d 330 GELIVO=0;
WelzAlex 0:41f8d348b90d 331 GELIHI=0;
WelzAlex 0:41f8d348b90d 332 wait(0.05);
WelzAlex 0:41f8d348b90d 333 GELIVO=1;
WelzAlex 0:41f8d348b90d 334 GELIHI=1;
WelzAlex 0:41f8d348b90d 335 wait(0.05);
WelzAlex 0:41f8d348b90d 336 GELIVO=0;
WelzAlex 0:41f8d348b90d 337 GELIHI=0;
WelzAlex 0:41f8d348b90d 338 wait(0.05);
WelzAlex 0:41f8d348b90d 339 GELIVO=1;
WelzAlex 0:41f8d348b90d 340 GELIHI=1;
WelzAlex 0:41f8d348b90d 341 wait(0.05);
WelzAlex 0:41f8d348b90d 342 b++;
WelzAlex 0:41f8d348b90d 343 }
WelzAlex 0:41f8d348b90d 344
WelzAlex 0:41f8d348b90d 345 //90° Drehung (links)
WelzAlex 0:41f8d348b90d 346 MG1_R=MG2_F=1;
WelzAlex 0:41f8d348b90d 347
WelzAlex 0:41f8d348b90d 348 wait(0.5555555);
WelzAlex 0:41f8d348b90d 349
WelzAlex 0:41f8d348b90d 350 MG1_R=MG2_F=0;
WelzAlex 0:41f8d348b90d 351 wait(0.5);
WelzAlex 0:41f8d348b90d 352
WelzAlex 0:41f8d348b90d 353 d++;
WelzAlex 0:41f8d348b90d 354 }
WelzAlex 0:41f8d348b90d 355
WelzAlex 0:41f8d348b90d 356 //3.Schleife (zurück-vor-90°links)
WelzAlex 0:41f8d348b90d 357 while(e<1)
WelzAlex 0:41f8d348b90d 358 {
WelzAlex 0:41f8d348b90d 359 int i = 0;
WelzAlex 0:41f8d348b90d 360 int a = 0;
WelzAlex 0:41f8d348b90d 361 int b = 0;
WelzAlex 0:41f8d348b90d 362
WelzAlex 0:41f8d348b90d 363 MG1_R=MG2_R=1;
WelzAlex 0:41f8d348b90d 364
WelzAlex 0:41f8d348b90d 365 //LED rechts nach links
WelzAlex 0:41f8d348b90d 366 while(a<1)
WelzAlex 0:41f8d348b90d 367 {
WelzAlex 0:41f8d348b90d 368
WelzAlex 0:41f8d348b90d 369 RTREHI=0;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 370 RTLIHI=0; //rot links hinten
WelzAlex 0:41f8d348b90d 371
WelzAlex 0:41f8d348b90d 372 ledD12=0;
WelzAlex 0:41f8d348b90d 373 wait (0.2);
WelzAlex 0:41f8d348b90d 374 ledD12=1;
WelzAlex 0:41f8d348b90d 375
WelzAlex 0:41f8d348b90d 376
WelzAlex 0:41f8d348b90d 377
WelzAlex 0:41f8d348b90d 378 ledD13=0;
WelzAlex 0:41f8d348b90d 379 wait (0.2);
WelzAlex 0:41f8d348b90d 380 ledD13=1;
WelzAlex 0:41f8d348b90d 381
WelzAlex 0:41f8d348b90d 382
WelzAlex 0:41f8d348b90d 383
WelzAlex 0:41f8d348b90d 384
WelzAlex 0:41f8d348b90d 385 ledD11=0;
WelzAlex 0:41f8d348b90d 386 wait (0.2);
WelzAlex 0:41f8d348b90d 387 ledD11=1;
WelzAlex 0:41f8d348b90d 388
WelzAlex 0:41f8d348b90d 389
WelzAlex 0:41f8d348b90d 390
WelzAlex 0:41f8d348b90d 391 ledD10=0;
WelzAlex 0:41f8d348b90d 392 wait(0.2);
WelzAlex 0:41f8d348b90d 393 ledD10=1;
WelzAlex 0:41f8d348b90d 394
WelzAlex 0:41f8d348b90d 395 RTREHI=1;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 396 RTLIHI=1; //rot links hinten
WelzAlex 0:41f8d348b90d 397
WelzAlex 0:41f8d348b90d 398 a++;
WelzAlex 0:41f8d348b90d 399 }
WelzAlex 0:41f8d348b90d 400
WelzAlex 0:41f8d348b90d 401
WelzAlex 0:41f8d348b90d 402
WelzAlex 0:41f8d348b90d 403 MG1_R=MG2_R=0;
WelzAlex 0:41f8d348b90d 404 wait(0.1);
WelzAlex 0:41f8d348b90d 405 MG1_F=MG2_F=1;
WelzAlex 0:41f8d348b90d 406
WelzAlex 0:41f8d348b90d 407
WelzAlex 0:41f8d348b90d 408 //LED links nach rechts
WelzAlex 0:41f8d348b90d 409 while(i<1)
WelzAlex 0:41f8d348b90d 410 {
WelzAlex 0:41f8d348b90d 411
WelzAlex 0:41f8d348b90d 412 WSLI=0;
WelzAlex 0:41f8d348b90d 413 WSRE=0;
WelzAlex 0:41f8d348b90d 414 ledD10=0;
WelzAlex 0:41f8d348b90d 415 wait(0.2);
WelzAlex 0:41f8d348b90d 416 ledD10=1;
WelzAlex 0:41f8d348b90d 417
WelzAlex 0:41f8d348b90d 418
WelzAlex 0:41f8d348b90d 419
WelzAlex 0:41f8d348b90d 420 ledD11=0;
WelzAlex 0:41f8d348b90d 421 wait(0.2);
WelzAlex 0:41f8d348b90d 422 ledD11=1;
WelzAlex 0:41f8d348b90d 423
WelzAlex 0:41f8d348b90d 424
WelzAlex 0:41f8d348b90d 425
WelzAlex 0:41f8d348b90d 426
WelzAlex 0:41f8d348b90d 427 ledD13=0;
WelzAlex 0:41f8d348b90d 428 wait(0.2);
WelzAlex 0:41f8d348b90d 429 ledD13=1;
WelzAlex 0:41f8d348b90d 430
WelzAlex 0:41f8d348b90d 431
WelzAlex 0:41f8d348b90d 432
WelzAlex 0:41f8d348b90d 433 ledD12=0;
WelzAlex 0:41f8d348b90d 434 wait(0.2);
WelzAlex 0:41f8d348b90d 435 ledD12=1;
WelzAlex 0:41f8d348b90d 436
WelzAlex 0:41f8d348b90d 437 WSLI=1;
WelzAlex 0:41f8d348b90d 438 WSRE=1;
WelzAlex 0:41f8d348b90d 439
WelzAlex 0:41f8d348b90d 440 i++;
WelzAlex 0:41f8d348b90d 441 }
WelzAlex 0:41f8d348b90d 442
WelzAlex 0:41f8d348b90d 443
WelzAlex 0:41f8d348b90d 444 MG1_F=MG2_F=0;
WelzAlex 0:41f8d348b90d 445 wait(0.75);
WelzAlex 0:41f8d348b90d 446
WelzAlex 0:41f8d348b90d 447
WelzAlex 0:41f8d348b90d 448
WelzAlex 0:41f8d348b90d 449 //Blinker Rechts Vorn/Hinten
WelzAlex 0:41f8d348b90d 450 while(b<2)
WelzAlex 0:41f8d348b90d 451 {
WelzAlex 0:41f8d348b90d 452 GEREVO=0;
WelzAlex 0:41f8d348b90d 453 GEREHI=0;
WelzAlex 0:41f8d348b90d 454 wait(0.05);
WelzAlex 0:41f8d348b90d 455 GEREVO=1;
WelzAlex 0:41f8d348b90d 456 GEREHI=1;
WelzAlex 0:41f8d348b90d 457 wait(0.05);
WelzAlex 0:41f8d348b90d 458 GEREVO=0;
WelzAlex 0:41f8d348b90d 459 GEREHI=0;
WelzAlex 0:41f8d348b90d 460 wait(0.05);
WelzAlex 0:41f8d348b90d 461 GEREVO=1;
WelzAlex 0:41f8d348b90d 462 GEREHI=1;
WelzAlex 0:41f8d348b90d 463 wait(0.05);
WelzAlex 0:41f8d348b90d 464 GEREVO=0;
WelzAlex 0:41f8d348b90d 465 GEREHI=0;
WelzAlex 0:41f8d348b90d 466 wait(0.05);
WelzAlex 0:41f8d348b90d 467 GEREVO=1;
WelzAlex 0:41f8d348b90d 468 GEREHI=1;
WelzAlex 0:41f8d348b90d 469 wait(0.05);
WelzAlex 0:41f8d348b90d 470 b++;
WelzAlex 0:41f8d348b90d 471 }
WelzAlex 0:41f8d348b90d 472
WelzAlex 0:41f8d348b90d 473 //90° Drehung (rechts)
WelzAlex 0:41f8d348b90d 474 MG1_F=MG2_R=1;
WelzAlex 0:41f8d348b90d 475
WelzAlex 0:41f8d348b90d 476 wait(0.5555555);
WelzAlex 0:41f8d348b90d 477
WelzAlex 0:41f8d348b90d 478 MG1_F=MG2_R=0;
WelzAlex 0:41f8d348b90d 479 wait(0.5);
WelzAlex 0:41f8d348b90d 480
WelzAlex 0:41f8d348b90d 481 e++;
WelzAlex 0:41f8d348b90d 482 }
WelzAlex 0:41f8d348b90d 483
WelzAlex 0:41f8d348b90d 484 //4.Schleife (zurück-vorn-90°links)
WelzAlex 0:41f8d348b90d 485 while(f<1)
WelzAlex 0:41f8d348b90d 486 {
WelzAlex 0:41f8d348b90d 487 int i = 0;
WelzAlex 0:41f8d348b90d 488 int a = 0;
WelzAlex 0:41f8d348b90d 489 int b = 0;
WelzAlex 0:41f8d348b90d 490 MG1_R=MG2_R=1;
WelzAlex 0:41f8d348b90d 491
WelzAlex 0:41f8d348b90d 492 //LED rechts nach links
WelzAlex 0:41f8d348b90d 493 while(a<1)
WelzAlex 0:41f8d348b90d 494 {
WelzAlex 0:41f8d348b90d 495
WelzAlex 0:41f8d348b90d 496 RTREHI=0;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 497 RTLIHI=0; //rot links hinten
WelzAlex 0:41f8d348b90d 498
WelzAlex 0:41f8d348b90d 499 ledD12=0;
WelzAlex 0:41f8d348b90d 500 wait (0.2);
WelzAlex 0:41f8d348b90d 501 ledD12=1;
WelzAlex 0:41f8d348b90d 502
WelzAlex 0:41f8d348b90d 503
WelzAlex 0:41f8d348b90d 504
WelzAlex 0:41f8d348b90d 505 ledD13=0;
WelzAlex 0:41f8d348b90d 506 wait (0.2);
WelzAlex 0:41f8d348b90d 507 ledD13=1;
WelzAlex 0:41f8d348b90d 508
WelzAlex 0:41f8d348b90d 509
WelzAlex 0:41f8d348b90d 510
WelzAlex 0:41f8d348b90d 511
WelzAlex 0:41f8d348b90d 512 ledD11=0;
WelzAlex 0:41f8d348b90d 513 wait (0.2);
WelzAlex 0:41f8d348b90d 514 ledD11=1;
WelzAlex 0:41f8d348b90d 515
WelzAlex 0:41f8d348b90d 516
WelzAlex 0:41f8d348b90d 517
WelzAlex 0:41f8d348b90d 518 ledD10=0;
WelzAlex 0:41f8d348b90d 519 wait(0.2);
WelzAlex 0:41f8d348b90d 520 ledD10=1;
WelzAlex 0:41f8d348b90d 521
WelzAlex 0:41f8d348b90d 522 RTREHI=1;//Rot rechts hinten
WelzAlex 0:41f8d348b90d 523 RTLIHI=1; //rot links hinten
WelzAlex 0:41f8d348b90d 524
WelzAlex 0:41f8d348b90d 525 a++;
WelzAlex 0:41f8d348b90d 526 }
WelzAlex 0:41f8d348b90d 527
WelzAlex 0:41f8d348b90d 528 MG1_R=MG2_R=0;
WelzAlex 0:41f8d348b90d 529 wait(0.1);
WelzAlex 0:41f8d348b90d 530 MG1_F=MG2_F=1;
WelzAlex 0:41f8d348b90d 531
WelzAlex 0:41f8d348b90d 532 //LED links nach rechts
WelzAlex 0:41f8d348b90d 533 while(i<1)
WelzAlex 0:41f8d348b90d 534 {
WelzAlex 0:41f8d348b90d 535
WelzAlex 0:41f8d348b90d 536 WSLI=0;
WelzAlex 0:41f8d348b90d 537 WSRE=0;
WelzAlex 0:41f8d348b90d 538 ledD10=0;
WelzAlex 0:41f8d348b90d 539 wait (0.2);
WelzAlex 0:41f8d348b90d 540 ledD10=1;
WelzAlex 0:41f8d348b90d 541
WelzAlex 0:41f8d348b90d 542
WelzAlex 0:41f8d348b90d 543
WelzAlex 0:41f8d348b90d 544 ledD11=0;
WelzAlex 0:41f8d348b90d 545 wait (0.2);
WelzAlex 0:41f8d348b90d 546 ledD11=1;
WelzAlex 0:41f8d348b90d 547
WelzAlex 0:41f8d348b90d 548
WelzAlex 0:41f8d348b90d 549
WelzAlex 0:41f8d348b90d 550
WelzAlex 0:41f8d348b90d 551 ledD13=0;
WelzAlex 0:41f8d348b90d 552 wait (0.2);
WelzAlex 0:41f8d348b90d 553 ledD13=1;
WelzAlex 0:41f8d348b90d 554
WelzAlex 0:41f8d348b90d 555
WelzAlex 0:41f8d348b90d 556
WelzAlex 0:41f8d348b90d 557 ledD12=0;
WelzAlex 0:41f8d348b90d 558 wait (0.2);
WelzAlex 0:41f8d348b90d 559 ledD12=1;
WelzAlex 0:41f8d348b90d 560
WelzAlex 0:41f8d348b90d 561 WSLI=1;
WelzAlex 0:41f8d348b90d 562 WSRE=1;
WelzAlex 0:41f8d348b90d 563
WelzAlex 0:41f8d348b90d 564 i++;
WelzAlex 0:41f8d348b90d 565 }
WelzAlex 0:41f8d348b90d 566
WelzAlex 0:41f8d348b90d 567
WelzAlex 0:41f8d348b90d 568 MG1_F=MG2_F=0;
WelzAlex 0:41f8d348b90d 569 wait(0.75);
WelzAlex 0:41f8d348b90d 570
WelzAlex 0:41f8d348b90d 571 //Blinker Links Vorn/Hinten
WelzAlex 0:41f8d348b90d 572 while(b<2)
WelzAlex 0:41f8d348b90d 573 {
WelzAlex 0:41f8d348b90d 574 GELIVO=0;
WelzAlex 0:41f8d348b90d 575 GELIHI=0;
WelzAlex 0:41f8d348b90d 576 wait(0.05);
WelzAlex 0:41f8d348b90d 577 GELIVO=1;
WelzAlex 0:41f8d348b90d 578 GELIHI=1;
WelzAlex 0:41f8d348b90d 579 wait(0.05);
WelzAlex 0:41f8d348b90d 580 GELIVO=0;
WelzAlex 0:41f8d348b90d 581 GELIHI=0;
WelzAlex 0:41f8d348b90d 582 wait(0.05);
WelzAlex 0:41f8d348b90d 583 GELIVO=1;
WelzAlex 0:41f8d348b90d 584 GELIHI=1;
WelzAlex 0:41f8d348b90d 585 wait(0.05);
WelzAlex 0:41f8d348b90d 586 GELIVO=0;
WelzAlex 0:41f8d348b90d 587 GELIHI=0;
WelzAlex 0:41f8d348b90d 588 wait(0.05);
WelzAlex 0:41f8d348b90d 589 GELIVO=1;
WelzAlex 0:41f8d348b90d 590 GELIHI=1;
WelzAlex 0:41f8d348b90d 591 wait(0.05);
WelzAlex 0:41f8d348b90d 592 b++;
WelzAlex 0:41f8d348b90d 593 }
WelzAlex 0:41f8d348b90d 594
WelzAlex 0:41f8d348b90d 595 //90° Drehung (links)
WelzAlex 0:41f8d348b90d 596 MG1_R=MG2_F=1;
WelzAlex 0:41f8d348b90d 597
WelzAlex 0:41f8d348b90d 598 wait(0.5555555);
WelzAlex 0:41f8d348b90d 599
WelzAlex 0:41f8d348b90d 600 MG1_R=MG2_F=0;
WelzAlex 0:41f8d348b90d 601 wait(0.5);
WelzAlex 0:41f8d348b90d 602
WelzAlex 0:41f8d348b90d 603 f++;
WelzAlex 0:41f8d348b90d 604 }
WelzAlex 0:41f8d348b90d 605
WelzAlex 0:41f8d348b90d 606
WelzAlex 0:41f8d348b90d 607
WelzAlex 0:41f8d348b90d 608
WelzAlex 0:41f8d348b90d 609
WelzAlex 0:41f8d348b90d 610
WelzAlex 0:41f8d348b90d 611
WelzAlex 0:41f8d348b90d 612 }
WelzAlex 0:41f8d348b90d 613
WelzAlex 0:41f8d348b90d 614
WelzAlex 0:41f8d348b90d 615
WelzAlex 0:41f8d348b90d 616
WelzAlex 0:41f8d348b90d 617 }