Diff: BertlPingPongBlink.cpp

Revision:

0:5fd8e02b1e0e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BertlPingPongBlink.cpp	Thu Nov 15 17:50:14 2018 +0000
@@ -0,0 +1,171 @@
+#include "mbed.h"
+#include "Serial_HL.h"
+#include "Bertl14.h"
+#include "BertlObjects.h"
+
+//              main=2^0  LS    ENC 2^2
+BusOut boardPow(p30,      P1_6, P1_7);
+
+// ls5 nur beim Betrl15
+// AnalogInHL ls1(p18), ls2(p16), ls3(p19), ls4(p17); // B14
+
+//AnalogInHL ls1(p18), ls2(p16), ls3(p20), ls4(p19), ls5(p17); // B15
+void ButonBlinker();
+
+//void MotorTest ();
+
+void BackW ();
+void ForW ();
+void BlinkTask();
+int direction = 0; //0 = zrueck und 1 = vorwaerts
+Timer t1;
+
+
+
+int main(void)
+{
+    boardPow=1;
+    wait_ms(10);
+    InitBertl();
+    pex.useISR=0;
+    leds=9;
+    pex.ClearLeds();
+    t1.start();
+
+    pex.WaitUntilButtonPressed();
+    while(1) {
+        //ButonBlinker();
+        //MotorTest ();
+        BackW();
+        wait_ms(1000);
+        ForW();
+        wait_ms(1000);
+    }
+
+    return 1;
+}
+
+void ButonBlinker()
+{
+    pex.ReadButtons();
+
+    if (pex.IsButton(BTN_FLL))
+    {
+        pex.SetLeds(LED_FL1|LED_FL2);
+    }
+
+    if (pex.IsButton(BTN_FRR))
+    {
+        pex.SetLeds(LED_FR1|LED_FR2);
+    }
+    wait_ms(100);
+    pex.ClearLeds();
+    wait_ms(100);
+}
+
+
+/*
+void MotorTest ()
+{
+   if (pex.IsButton(BTN_FRR||BTN_FLL))
+    {
+        mL.SetPow(-0.2);
+        mR.SetPow(-0.2);
+    }
+
+
+   else if (pex.IsButton(BTN_BR||BTN_BL))
+    {
+        mL.SetPow(0.2);
+        mR.SetPow(0.2);
+    }
+
+   //mL.SetPow(0.2);
+   //mR.SetPow(0.2);
+
+   //wait_ms(2000);
+
+    //mL.SetPow(-0.2);
+    //mR.SetPow(-0.2);
+
+   //wait_ms(2000);
+
+
+
+
+}
+*/
+
+void BackW ()
+{
+    pex.ClearLeds();
+    mL.SetPow(0.3);
+    mR.SetPow(0.3);
+    direction = 0;
+    
+    pex.SetLeds(LED_FL1|LED_FL2);
+    pex.SetLeds(LED_FR1|LED_FR2);
+
+
+                
+
+    while (1 ) {
+        pex.ReadButtons();
+        BlinkTask();
+
+        if( pex.IsAnyFrontButton() ) {
+            break;
+        }
+
+    }
+    mL.SetPow(0);
+    mR.SetPow(0);
+
+
+}
+
+
+void ForW ()
+{
+    pex.ClearLeds();
+    mL.SetPow(-0.3);
+    mR.SetPow(-0.3);
+    direction = 1;
+      
+    
+    pex.SetLeds(LED_BL1|LED_BL2);
+    pex.SetLeds(LED_BR1|LED_BR2);
+
+    while (1 ) {
+        pex.ReadButtons();
+        BlinkTask();
+
+        if( pex.IsAnyBackButton() ) {
+            break;
+        }
+
+
+    }
+    mL.SetPow(0);
+    mR.SetPow(0);
+}
+
+void BlinkTask() 
+{
+        if( t1.read_ms()>100 ) // alle 100ms = 10Hz
+        { 
+            t1.reset(); // timer neu starten
+
+            if(direction == 0) 
+            {
+                pex.ToggleLeds(LED_BL1| LED_BR1);
+                pex.ToggleLeds(LED_BL2| LED_BR2);
+                
+            } else 
+            {
+                pex.ToggleLeds(LED_FL1| LED_FR1);
+                pex.ToggleLeds(LED_FL2| LED_FR2);
+            }
+        }
+    }
+