Diff: BertlPingPongDirection.cpp

Revision:

0:7b2a14b523de

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BertlPingPongDirection.cpp	Thu Nov 15 17:50:36 2018 +0000
@@ -0,0 +1,235 @@
+#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 Left();
+void Right();
+void BlinkTask();
+int direction = 0; //0= zurück, 1 = vorwärts
+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_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 ForW()
+{
+    pex.ClearLeds();
+    mL.SetPow(-0.3);
+    mR.SetPow(-0.3);
+    direction = 1;
+
+    //  pex.SetLeds(LED_FL1 | LED_FL2);
+    //  pex.SetLeds(LED_FR1 | LED_FR2);
+
+    while (1)
+    {
+        pex.ReadButtons();
+        BlinkTask();
+
+        if (pex.IsRightFrontButton())
+        {
+            mL.SetPow(-0.3);
+            mR.SetPow(-0.5);
+            //break;
+        }
+        else if (pex.IsLeftFrontButton())
+        {
+            mL.SetPow(-0.5);
+            mR.SetPow(-0.3);
+        }
+        else if (pex.IsMiddleFrontButton())
+        {
+            mL.SetPow(-0.5);
+            mR.SetPow(-0.5);
+        }
+
+    }
+    mL.SetPow(0);
+    mR.SetPow(0);
+
+}
+
+/*void Right()
+{
+    pex.ClearLeds();
+    mL.SetPow(-0.3);
+    mR.SetPow(-0.3);
+    direction = 1;
+
+    //  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 Left()
+{
+    pex.ClearLeds();
+    mL.SetPow(-0.3);
+    mR.SetPow(-0.3);
+    direction = 1;
+
+    //  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 BlinkTask()
+{
+    if (t1.read_ms()>100) // alle 100ms = 10Hz
+    {
+        t1.reset(); // timer neu starten
+        if (direction == 0)
+        {
+            pex.ToggleLeds(LED_BL1 | LED_BL2);
+            pex.ToggleLeds(LED_BR1 | LED_BR2);
+        }
+        else
+        {
+            pex.ToggleLeds(LED_FL1 | LED_FL2);
+            pex.ToggleLeds(LED_FR1 | LED_FR2);
+        }
+    }
+}
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