Christian Weiß
BertlTemplate3
Revision 0:5fd8e02b1e0e, committed 2018-11-15
- Comitter:
- Wizo
- Date:
- Thu Nov 15 17:50:14 2018 +0000
- Commit message:
- BertlTemplate3
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BertlLib.lib Thu Nov 15 17:50:14 2018 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/hollegha2/code/BertlLib/#20c3213c3ada
--- /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);
+ }
+ }
+ }
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 15 17:50:14 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/aa5281ff4a02 \ No newline at end of file