Christian Weiß
/
BertlTemplate4
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
diff -r 000000000000 -r 7b2a14b523de BertlLib_copy.lib --- /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
diff -r 000000000000 -r 7b2a14b523de BertlPingPongDirection.cpp --- /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
diff -r 000000000000 -r 7b2a14b523de mbed.bld --- /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