Diff: main.cpp

Revision:

5:93d3efe46493

Parent:

4:3c6d2c035243

--- a/main.cpp	Tue May 01 11:42:38 2018 +0000
+++ b/main.cpp	Wed May 09 13:33:59 2018 +0000
@@ -23,8 +23,6 @@
 AnalogIn sensorValue4(PB_1);        // Seitlicher Sensor links
 AnalogIn sensorValue5(PA_4);        // Seitlicher Sensor rechts
 AnalogIn sensorValue6(PB_0);        // Helligkeitssensor
-//DigitalOut myled(LED1);           // LED 1
-//InterruptIn button(USER_BUTTON);  // Startknopf
 DigitalIn mybutton(USER_BUTTON);
 DigitalOut myled(LED1);
 DigitalOut power_5v(PC_4);          // 5V auf Sensoren, geschalten
@@ -35,15 +33,14 @@
 DigitalIn motorDriverFault(PB_14);
 DigitalIn motorDriverWarning(PB_15);
 
-PwmOut pwmRight(PA_8);
-PwmOut pwmLeft(PA_9);
+PwmOut pwmRight(PA_9);
+PwmOut pwmLeft(PA_8);
 
 EncoderCounter counterLeft(PB_6, PB_7);
 EncoderCounter counterRight(PA_6, PC_7);
 
 //------------------------------------------------------------------------------
 
-Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
 
 // Grosse Sensoren aufrufen
 IRSensorGF Sensor1(sensorValue1);
@@ -59,6 +56,7 @@
 
 int main()
 {
+    Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
     power_5v = 1; // Einschalten 5V Speisung der Sensoren
     enable = 1;
     enableMotorDriver = 1; //Schaltet den Leistungstreiber ein
@@ -73,8 +71,14 @@
             while (1) {
                 D = LHR.moving();
                 motion.switching(D);
-                wait(0.2);
+                /*printf("Sensor1:%d\r\n", Sensor1.read());
+                printf("Sensor2:%d\r\n", Sensor2.read());
+                printf("Sensor3:%d\r\n", Sensor3.read());
+                printf("Sensor4:%d\r\n", Sensor4.read());
+                printf("Sensor5:%d\r\n", Sensor5.read());
+                printf("\r\n");*/
+                wait(0.05f);
             }
         }
     }
-    }
+}