Antonia Baumgartner / Mbed 2 deprecated YB_copy

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of Versuch21 by Antonia Baumgartner

main.cpp@1:6ef5bc60e69c, 2018-04-23 (annotated)

Committer:
mrbb2
Date:
Mon Apr 23 16:18:41 2018 +0000
Revision:
1:6ef5bc60e69c
Parent:
0:b886f13e4ac6
Child:
2:efa9a78591da
PES2;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
baumgant 0:b886f13e4ac6 1 #include <mbed.h>
baumgant 0:b886f13e4ac6 2 #include "EncoderCounter.h"
baumgant 0:b886f13e4ac6 3 #include "Controller.h"
baumgant 0:b886f13e4ac6 4 #include "IRSensorG.h"
baumgant 0:b886f13e4ac6 5 #include "IRSensorGF.h"
baumgant 0:b886f13e4ac6 6 #include "IRSensorK.h"
baumgant 0:b886f13e4ac6 7 #include "IRSensorZ.h"
baumgant 0:b886f13e4ac6 8 #include "Spurhaltung.h"
baumgant 0:b886f13e4ac6 9 #include "LHR.h"
mrbb2 1:6ef5bc60e69c 10 #include "Motion.h"
baumgant 0:b886f13e4ac6 11
baumgant 0:b886f13e4ac6 12 //Motorbefehle von LHR
baumgant 0:b886f13e4ac6 13 int D, sl, sr;
baumgant 0:b886f13e4ac6 14 Timer timey;
baumgant 0:b886f13e4ac6 15
baumgant 0:b886f13e4ac6 16
baumgant 0:b886f13e4ac6 17 AnalogIn sensorValue1(PC_2); // Frontsensor mitte
baumgant 0:b886f13e4ac6 18 AnalogIn sensorValue2(PC_3); // Frontsensor links
baumgant 0:b886f13e4ac6 19 AnalogIn sensorValue3(PC_5); // Frontsensor rechts
baumgant 0:b886f13e4ac6 20 AnalogIn sensorValue4(PB_1); // Seitlicher Sensor links
baumgant 0:b886f13e4ac6 21 AnalogIn sensorValue5(PA_4); // Seitlicher Sensor rechts
baumgant 0:b886f13e4ac6 22 AnalogIn sensorValue6(PB_0); // Helligkeitssensor
baumgant 0:b886f13e4ac6 23 DigitalOut myled(LED1); // LED 1
mrbb2 1:6ef5bc60e69c 24 DigitalIn button(USER_BUTTON); // Startknopf
baumgant 0:b886f13e4ac6 25 DigitalOut power_5v(PC_4); // 5V auf Sensoren, geschalten
baumgant 0:b886f13e4ac6 26
baumgant 0:b886f13e4ac6 27 DigitalOut enable(PC_1);
baumgant 0:b886f13e4ac6 28
baumgant 0:b886f13e4ac6 29 DigitalOut enableMotorDriver(PB_2);
baumgant 0:b886f13e4ac6 30 DigitalIn motorDriverFault(PB_14);
baumgant 0:b886f13e4ac6 31 DigitalIn motorDriverWarning(PB_15);
baumgant 0:b886f13e4ac6 32
baumgant 0:b886f13e4ac6 33 PwmOut pwmLeft(PA_8);
baumgant 0:b886f13e4ac6 34 PwmOut pwmRight(PA_9);
baumgant 0:b886f13e4ac6 35
baumgant 0:b886f13e4ac6 36 EncoderCounter counterRight(PB_6, PB_7);
baumgant 0:b886f13e4ac6 37 EncoderCounter counterLeft(PA_6, PC_7);
baumgant 0:b886f13e4ac6 38
baumgant 0:b886f13e4ac6 39
baumgant 0:b886f13e4ac6 40 Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
baumgant 0:b886f13e4ac6 41
baumgant 0:b886f13e4ac6 42 // Grosse Sensoren aufrufen
baumgant 0:b886f13e4ac6 43 IRSensorGF Sensor1(sensorValue1);
baumgant 0:b886f13e4ac6 44 IRSensorG Sensor2(sensorValue2);
baumgant 0:b886f13e4ac6 45 IRSensorG Sensor3(sensorValue3);
baumgant 0:b886f13e4ac6 46 // Kleine Sensoren aufrufen
baumgant 0:b886f13e4ac6 47 IRSensorK Sensor4(sensorValue4);
baumgant 0:b886f13e4ac6 48 IRSensorK Sensor5(sensorValue5);
baumgant 0:b886f13e4ac6 49 // Helligkeitssensor aufrufen
baumgant 0:b886f13e4ac6 50 IRSensorZ Sensor6(sensorValue6);
baumgant 0:b886f13e4ac6 51
baumgant 0:b886f13e4ac6 52
baumgant 0:b886f13e4ac6 53 int main()
baumgant 0:b886f13e4ac6 54 {
baumgant 0:b886f13e4ac6 55 power_5v = 1; // Einschalten 5V Speisung der Sensoren
baumgant 0:b886f13e4ac6 56 enable = 1;
baumgant 0:b886f13e4ac6 57 enableMotorDriver = 1; //Schaltet den Leistungstreiber ein
baumgant 0:b886f13e4ac6 58 LHR LHR(Sensor1, Sensor2, Sensor3, Sensor4, Sensor5, Sensor6);
baumgant 0:b886f13e4ac6 59 Spurhaltung spurhaltung(Sensor2, Sensor3);
mrbb2 1:6ef5bc60e69c 60 Motion motion(counterLeft, counterRight, controller, spurhaltung, Sensor1, Sensor2, Sensor3, Sensor4, Sensor5, Sensor6);
baumgant 0:b886f13e4ac6 61
mrbb2 1:6ef5bc60e69c 62
baumgant 0:b886f13e4ac6 63 if(button==1) {
baumgant 0:b886f13e4ac6 64
baumgant 0:b886f13e4ac6 65 while (1) {
baumgant 0:b886f13e4ac6 66
baumgant 0:b886f13e4ac6 67 D = LHR.moving();
mrbb2 1:6ef5bc60e69c 68 //sl = spurhaltung.speedr();
mrbb2 1:6ef5bc60e69c 69 //printf("Status: %d\r\n", button);
mrbb2 1:6ef5bc60e69c 70 //sr = spurhaltung.speedl();
baumgant 0:b886f13e4ac6 71 motion.switching(D);
mrbb2 1:6ef5bc60e69c 72
baumgant 0:b886f13e4ac6 73 }
baumgant 0:b886f13e4ac6 74 }
baumgant 0:b886f13e4ac6 75 }