Christian Weiß
BertlTemplate4
Revision 0:7b2a14b523de, committed 2018-11-15
- Comitter:
- Wizo
- Date:
- Thu Nov 15 17:50:36 2018 +0000
- Commit message:
- BertlTemplate4
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BertlLib_copy.lib Thu Nov 15 17:50:36 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/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);
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 15 17:50:36 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/aa5281ff4a02 \ No newline at end of file