Alexander Welz
Bertl16-cross
Diff: main.cpp
- Revision:
- 0:41f8d348b90d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Jun 16 16:43:31 2016 +0000
@@ -0,0 +1,617 @@
+//while(1){ VOR (weiss)_ZURUECK(rot)_RECHTS(blinker) }
+
+#include "mbed.h"
+
+
+DigitalOut Von(P2_13); // 12V on
+// Definition der 12 LED's
+DigitalOut WSLI(P1_10); //wsS links D1
+DigitalOut WSRE(P1_12); //wsS rechts D4
+DigitalOut GELIVO (P1_11); //ge links vorn D2
+DigitalOut GEREVO (P1_13); //ge rechts vorn D5
+DigitalOut GELIHI(P1_14); //ge links hinten D6
+DigitalOut RTLIHI(P1_15); // rt links hinbten D7
+DigitalOut GEREHI(P1_16); //ge rechts hinten D8
+DigitalOut RTREHI(P1_17); //rt rechts hinten D9
+
+DigitalOut ledD10 (P1_18);
+DigitalOut ledD11 (P2_16);
+DigitalOut ledD12 (P1_20);
+DigitalOut ledD13 (P1_21);
+
+// LDR
+AnalogIn LDR(P0_14);
+// RGB LED
+DigitalOut RGB(P1_22);
+// Motor Steuerung Schaltung Pg 2
+DigitalOut MG1_EN(P2_16);// NUR DIGITAL ohne PWM ! ! !
+DigitalOut MG1_F(P2_15);
+DigitalOut MG1_R(P2_14);
+DigitalOut MG2_EN(P2_19);
+DigitalOut MG2_F(P2_20);
+DigitalOut MG2_R(P2_21);
+//ULTRASCHALL ABSTANDSMESSER
+DigitalOut TRIG(P2_22);
+DigitalIn ECHO(P2_23);
+// Definition der Taster **************** Schaltplan Pg5
+DigitalIn TA1(P1_23); //TA1
+DigitalIn TA2(P1_24); //
+DigitalIn TA3(P1_25); //
+DigitalIn TA4(P1_26); //
+DigitalIn TA5(P1_27); //
+DigitalIn TA6(P1_28); //
+DigitalIn TA7(P1_30); //
+DigitalIn TA8(P1_31); //
+// INCREMENTGEBER *********************** Schaltplan Pg 6
+DigitalOut EN_INCR (P2_2); //Incrementgeber Enable
+DigitalIn INCR_L1 (P2_6);
+DigitalIn INCR_L2 (P2_7);
+DigitalIn INCR_R1 (P2_8);
+DigitalIn INCR_R2 (P2_9);
+// LINE SENSOR *************************** Schaltplan Pg 7
+DigitalOut EN_Line (P2_5); //Enable LINE Sensor
+DigitalIn ISO1 (P1_9); // Statt ANALOG hier DIGITAL
+DigitalIn ISO2 (P0_23); // nur für einfachen TEST!
+DigitalIn ISO3 (P0_16);
+DigitalIn ISO4 (P0_15);
+DigitalIn ISO5 (P1_3);
+// Blue LED ****************************** Schaltplan Pg 8
+DigitalOut LedBl (P1_5);
+
+
+
+
+int main()
+{
+
+
+//ALLE LEDS aus
+ GELIHI=1; //Gelb links hinten
+ GEREHI=1;//gelb rehts hinten
+ RTREHI=1;//Rot rechts hinten
+ RTLIHI=1; //rot links hinten
+ GELIVO=1;//gelb links vorne
+ GEREVO=1;//gelb rechts hinten
+ WSLI=1;//weiss links vorne
+ WSRE=1;//weiss rechts vorne
+ ledD10=1;
+ ledD11=1;
+ ledD13=1;
+ ledD12=1;
+
+ Von =1;
+ MG1_EN=MG2_EN=1;
+
+
+
+
+
+while(1)//Hauptschleife
+{
+
+ int c=0;
+ int d=0;
+ int e=0;
+ int f=0;
+
+ //1 Schleife (vor-zurück-90°rechts)
+ while(c<1)
+ {
+
+
+
+ int i = 0;
+ int a = 0;
+ int b = 0;
+
+ MG1_F=MG2_F=1;
+
+ //LED links nach rechts
+ while(i<1)
+ {
+
+ WSLI=0;
+ WSRE=0;
+ ledD10=0;
+ wait (0.2);
+ ledD10=1;
+
+
+
+ ledD11=0;
+ wait (0.2);
+ ledD11=1;
+
+
+
+
+ ledD13=0;
+ wait (0.2);
+ ledD13=1;
+
+
+
+ ledD12=0;
+ wait (0.2);
+ ledD12=1;
+
+ WSLI=1;
+ WSRE=1;
+
+ i++;
+ }
+
+
+ MG1_F=MG2_F=0;
+ wait(0.1);
+ MG1_R=MG2_R=1;
+
+
+ //LED rechts nach links
+ while(a<1)
+ {
+
+ RTREHI=0;//Rot rechts hinten
+ RTLIHI=0; //rot links hinten
+
+ ledD12=0;
+ wait (0.2);
+ ledD12=1;
+
+
+
+ ledD13=0;
+ wait (0.2);
+ ledD13=1;
+
+
+
+
+ ledD11=0;
+ wait (0.2);
+ ledD11=1;
+
+
+
+ ledD10=0;
+ wait(0.2);
+ ledD10=1;
+
+ RTREHI=1;//Rot rechts hinten
+ RTLIHI=1; //rot links hinten
+
+ a++;
+ }
+
+
+
+ MG1_R=MG2_R=0;
+ wait(0.75);
+
+ //Blinker Rechts Vorn/Hinten
+ while(b<2)
+ {
+ GEREVO=0;
+ GEREHI=0;
+ wait(0.05);
+ GEREVO=1;
+ GEREHI=1;
+ wait(0.05);
+ GEREVO=0;
+ GEREHI=0;
+ wait(0.05);
+ GEREVO=1;
+ GEREHI=1;
+ wait(0.05);
+ GEREVO=0;
+ GEREHI=0;
+ wait(0.05);
+ GEREVO=1;
+ GEREHI=1;
+ wait(0.05);
+ b++;
+ }
+
+ //90° Drehung (rechts)
+ MG1_F=MG2_R=1;
+
+ wait(0.5555555);
+
+ MG1_F=MG2_R=0;
+ wait(0.5);
+
+ c++;
+ }
+
+
+
+
+
+
+ //2 Schleife (vor-zurück-90°links)
+ while(d<1)
+ {
+ int i = 0;
+ int a = 0;
+ int b = 0;
+ MG1_F=MG2_F=1;
+
+ //LED links nach rechts
+ while(i<1)
+ {
+
+ WSLI=0;
+ WSRE=0;
+ ledD10=0;
+ wait (0.2);
+ ledD10=1;
+
+
+
+ ledD11=0;
+ wait (0.2);
+ ledD11=1;
+
+
+
+
+ ledD13=0;
+ wait (0.2);
+ ledD13=1;
+
+
+
+ ledD12=0;
+ wait (0.2);
+ ledD12=1;
+
+ WSLI=1;
+ WSRE=1;
+
+ i++;
+ }
+
+
+ MG1_F=MG2_F=0;
+ wait(0.1);
+ MG1_R=MG2_R=1;
+
+
+ //LED rechts nach links
+ while(a<1)
+ {
+
+ RTREHI=0;//Rot rechts hinten
+ RTLIHI=0; //rot links hinten
+
+ ledD12=0;
+ wait (0.2);
+ ledD12=1;
+
+
+
+ ledD13=0;
+ wait (0.2);
+ ledD13=1;
+
+
+
+
+ ledD11=0;
+ wait (0.2);
+ ledD11=1;
+
+
+
+ ledD10=0;
+ wait(0.2);
+ ledD10=1;
+
+ RTREHI=1;//Rot rechts hinten
+ RTLIHI=1; //rot links hinten
+
+ a++;
+ }
+
+
+
+ MG1_R=MG2_R=0;
+ wait(0.75);
+
+ //Blinker Links Vorn/Hinten
+ while(b<2)
+ {
+ GELIVO=0;
+ GELIHI=0;
+ wait(0.05);
+ GELIVO=1;
+ GELIHI=1;
+ wait(0.05);
+ GELIVO=0;
+ GELIHI=0;
+ wait(0.05);
+ GELIVO=1;
+ GELIHI=1;
+ wait(0.05);
+ GELIVO=0;
+ GELIHI=0;
+ wait(0.05);
+ GELIVO=1;
+ GELIHI=1;
+ wait(0.05);
+ b++;
+ }
+
+ //90° Drehung (links)
+ MG1_R=MG2_F=1;
+
+ wait(0.5555555);
+
+ MG1_R=MG2_F=0;
+ wait(0.5);
+
+ d++;
+ }
+
+ //3.Schleife (zurück-vor-90°links)
+ while(e<1)
+ {
+ int i = 0;
+ int a = 0;
+ int b = 0;
+
+ MG1_R=MG2_R=1;
+
+ //LED rechts nach links
+ while(a<1)
+ {
+
+ RTREHI=0;//Rot rechts hinten
+ RTLIHI=0; //rot links hinten
+
+ ledD12=0;
+ wait (0.2);
+ ledD12=1;
+
+
+
+ ledD13=0;
+ wait (0.2);
+ ledD13=1;
+
+
+
+
+ ledD11=0;
+ wait (0.2);
+ ledD11=1;
+
+
+
+ ledD10=0;
+ wait(0.2);
+ ledD10=1;
+
+ RTREHI=1;//Rot rechts hinten
+ RTLIHI=1; //rot links hinten
+
+ a++;
+ }
+
+
+
+ MG1_R=MG2_R=0;
+ wait(0.1);
+ MG1_F=MG2_F=1;
+
+
+ //LED links nach rechts
+ while(i<1)
+ {
+
+ WSLI=0;
+ WSRE=0;
+ ledD10=0;
+ wait(0.2);
+ ledD10=1;
+
+
+
+ ledD11=0;
+ wait(0.2);
+ ledD11=1;
+
+
+
+
+ ledD13=0;
+ wait(0.2);
+ ledD13=1;
+
+
+
+ ledD12=0;
+ wait(0.2);
+ ledD12=1;
+
+ WSLI=1;
+ WSRE=1;
+
+ i++;
+ }
+
+
+ MG1_F=MG2_F=0;
+ wait(0.75);
+
+
+
+ //Blinker Rechts Vorn/Hinten
+ while(b<2)
+ {
+ GEREVO=0;
+ GEREHI=0;
+ wait(0.05);
+ GEREVO=1;
+ GEREHI=1;
+ wait(0.05);
+ GEREVO=0;
+ GEREHI=0;
+ wait(0.05);
+ GEREVO=1;
+ GEREHI=1;
+ wait(0.05);
+ GEREVO=0;
+ GEREHI=0;
+ wait(0.05);
+ GEREVO=1;
+ GEREHI=1;
+ wait(0.05);
+ b++;
+ }
+
+ //90° Drehung (rechts)
+ MG1_F=MG2_R=1;
+
+ wait(0.5555555);
+
+ MG1_F=MG2_R=0;
+ wait(0.5);
+
+ e++;
+ }
+
+ //4.Schleife (zurück-vorn-90°links)
+ while(f<1)
+ {
+ int i = 0;
+ int a = 0;
+ int b = 0;
+ MG1_R=MG2_R=1;
+
+ //LED rechts nach links
+ while(a<1)
+ {
+
+ RTREHI=0;//Rot rechts hinten
+ RTLIHI=0; //rot links hinten
+
+ ledD12=0;
+ wait (0.2);
+ ledD12=1;
+
+
+
+ ledD13=0;
+ wait (0.2);
+ ledD13=1;
+
+
+
+
+ ledD11=0;
+ wait (0.2);
+ ledD11=1;
+
+
+
+ ledD10=0;
+ wait(0.2);
+ ledD10=1;
+
+ RTREHI=1;//Rot rechts hinten
+ RTLIHI=1; //rot links hinten
+
+ a++;
+ }
+
+ MG1_R=MG2_R=0;
+ wait(0.1);
+ MG1_F=MG2_F=1;
+
+ //LED links nach rechts
+ while(i<1)
+ {
+
+ WSLI=0;
+ WSRE=0;
+ ledD10=0;
+ wait (0.2);
+ ledD10=1;
+
+
+
+ ledD11=0;
+ wait (0.2);
+ ledD11=1;
+
+
+
+
+ ledD13=0;
+ wait (0.2);
+ ledD13=1;
+
+
+
+ ledD12=0;
+ wait (0.2);
+ ledD12=1;
+
+ WSLI=1;
+ WSRE=1;
+
+ i++;
+ }
+
+
+ MG1_F=MG2_F=0;
+ wait(0.75);
+
+ //Blinker Links Vorn/Hinten
+ while(b<2)
+ {
+ GELIVO=0;
+ GELIHI=0;
+ wait(0.05);
+ GELIVO=1;
+ GELIHI=1;
+ wait(0.05);
+ GELIVO=0;
+ GELIHI=0;
+ wait(0.05);
+ GELIVO=1;
+ GELIHI=1;
+ wait(0.05);
+ GELIVO=0;
+ GELIHI=0;
+ wait(0.05);
+ GELIVO=1;
+ GELIHI=1;
+ wait(0.05);
+ b++;
+ }
+
+ //90° Drehung (links)
+ MG1_R=MG2_F=1;
+
+ wait(0.5555555);
+
+ MG1_R=MG2_F=0;
+ wait(0.5);
+
+ f++;
+ }
+
+
+
+
+
+
+
+}
+
+
+
+
+}