Christian Weiß
Bertl_Test
Revision 0:c80b1c10ea85, committed 2018-11-15
- Comitter:
- Wizo
- Date:
- Thu Nov 15 17:24:58 2018 +0000
- Commit message:
- Bertl_Test
Changed in this revision
diff -r 000000000000 -r c80b1c10ea85 BertlLib_copy_copy.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BertlLib_copy_copy.lib Thu Nov 15 17:24:58 2018 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/hollegha2/code/BertlLib/#20c3213c3ada
diff -r 000000000000 -r c80b1c10ea85 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Nov 15 17:24:58 2018 +0000
@@ -0,0 +1,150 @@
+
+#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);
+AnalogInHL ls1(p18), ls2(p16), ls3(p20), ls4(p19), ls5(p17); // B15
+
+// Alle Funktionen die den Bertl bewegen werden mit
+// ausgeschalteten Motoren betreten und mit ausgeschalteten Motoren
+// wieder verlassen
+
+void ForewardUntilWall();
+
+void SomeStepsBack();
+
+void TurnLeft();
+
+void TurnRight();
+
+void FrontBlinkerTask();
+
+void BackBlinkerTask();
+
+int direction = 0; //0= zurück, 1 = vorwärts
+
+Timer t1;
+
+
+int main(void)
+{
+ boardPow=3; wait_ms(10);
+ InitBertl(); leds=9;
+ pex.ClearLeds();
+ t1.start();
+
+
+ while(1)
+ {
+ ForewardUntilWall();
+ FrontBlinkerTask();
+ BackBlinkerTask();
+
+ }
+
+ return 1;
+}
+
+void ForewardUntilWall()
+{
+
+ if(ls1.Read()<600)
+ {
+ mL.SetPow2(0.3);
+ mR.SetPow2(0.25);
+ direction = 1;
+ }
+ else if(ls1.Read()>600)
+ {
+ mL.SetPow2(0.0);
+ mR.SetPow2(0.0);
+ wait_ms(1000);
+ SomeStepsBack();
+ wait_ms(1000);
+ TurnRight();
+ }
+ else if(ls4.Read()<600)
+ {
+ mL.SetPow2(0.3);
+ mR.SetPow2(0.25);
+ direction = 1;
+
+ }
+ else if(ls4.Read()>600)
+ {
+ mL.SetPow2(0.0);
+ mR.SetPow2(0.0);
+ wait_ms(1000);
+ SomeStepsBack();
+ wait_ms(1000);
+ TurnLeft();
+ }
+}
+
+void SomeStepsBack()
+{
+ // Motoren auf rückwärts
+
+ mL.SetPow2(-0.2);
+ mR.SetPow2(-0.2);
+ direction = 0;
+ wait_ms(800);
+ // Motoren ausschalten
+ mL.SetPow2(0.0);
+ mR.SetPow2(0.0);
+
+}
+
+void TurnLeft()
+{
+
+ mL.SetPow(0.0); mR.SetPow(0.4);//linkskurve
+ wait_ms(300);
+ mL.SetPow2(0.0);
+ mR.SetPow2(0.0);
+ wait_ms(1000);
+}
+
+void TurnRight()
+{
+ mL.SetPow(0.4); mR.SetPow(0.0);//rechtskurve
+ wait_ms(300);
+ mL.SetPow2(0.0);
+ mR.SetPow2(0.0);
+ wait_ms(1000);
+}
+
+void FrontBlinkerTask()
+{
+ if (t1.read_ms()>100) // alle 100ms = 10Hz
+ {
+ t1.reset(); // timer neu starten
+ if (direction == 1)
+ {
+ pex.ToggleLeds(LED_FL1 | LED_FL2);
+ pex.ToggleLeds(LED_FR1 | LED_FR2);
+ }
+
+ }
+
+}
+
+void BackBlinkerTask()
+{
+ 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);
+ }
+
+ }
+
+}
+
+
diff -r 000000000000 -r c80b1c10ea85 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 15 17:24:58 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee \ No newline at end of file