Christian Weiß
BertlTemplate_Linienfahren
Revision 0:b341e50bf93f, committed 2018-11-15
- Comitter:
- Wizo
- Date:
- Thu Nov 15 17:51:12 2018 +0000
- Commit message:
- BertlTemplate_Linienfahren
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BertlLib_copy_copy.lib Thu Nov 15 17:51:12 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/main.cpp Thu Nov 15 17:51:12 2018 +0000
@@ -0,0 +1,66 @@
+
+#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
+
+int main(void)
+{
+ boardPow=3; wait_ms(10);
+ InitBertl();
+ pex.useISR=0; leds=9;
+ pex.ClearLeds();
+
+ bool rechts = 0;//flag, welche kurve zuletzt dran war
+ bool links = 0;
+
+ while(1)
+ {
+ wait_ms(10);
+
+ if(ls1.Read()>600)
+ {
+ mL.SetPow(0.3); mR.SetPow(0.1);//rechtskurve
+ rechts = 1;
+ }
+ else if(ls4.Read()>600)
+ {
+ mL.SetPow(0.1); mR.SetPow(0.3);//linkskurve
+ links = 1;
+ }
+ else if(ls1.Read()<200 && ls4.Read()<200 && ls2.Read()>200 && ls3.Read()>200)
+ {
+ mL.SetPow(0.3); mR.SetPow(0.3);//geradeaus
+ rechts = 0;
+ links = 0;
+ }
+ else if(ls1.Read()<200 && ls4.Read()<200 && ls2.Read()<200 && ls3.Read()<200 && ls5.Read()<200)//wenn alle unter 200, je nachdem was die letzte kurve war --> andere richtung
+ {
+ if(rechts == 1)
+ {
+ mL.SetPow(0.3); mR.SetPow(0.1);//rechtskurve
+ links = 0;//zurücksetzen
+ }
+ else if (links == 1)
+ {
+ mL.SetPow(0.1); mR.SetPow(0.3);//linkskurve
+ rechts = 0;
+ }
+ else
+ {
+ mL.SetPow(0.3); mR.SetPow(0.3);//geradeaus
+ }
+ }
+ }
+ return 1;
+}
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 15 17:51:12 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee \ No newline at end of file