Antonia Baumgartner
/
YB_copy
PES2
Fork of Versuch21 by
main.cpp
- Committer:
- baumgant
- Date:
- 2018-05-01
- Revision:
- 4:3c6d2c035243
- Parent:
- 3:f44ef28cfb2d
- Child:
- 5:93d3efe46493
File content as of revision 4:3c6d2c035243:
#include <mbed.h> #include "EncoderCounter.h" #include "Controller.h" #include "IRSensorG.h" #include "IRSensorGF.h" #include "IRSensorK.h" #include "IRSensorZ.h" #include "Spurhaltung.h" #include "LHR.h" #include "Motion.h" //------------------------------------------------------------------------------ //Motorbefehle von LHR int D, sl, sr; Timer timey; //------------------------------------------------------------------------------ AnalogIn sensorValue1(PC_2); // Frontsensor mitte AnalogIn sensorValue2(PC_3); // Frontsensor links AnalogIn sensorValue3(PC_5); // Frontsensor rechts 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 DigitalOut enable(PC_1); DigitalOut enableMotorDriver(PB_2); DigitalIn motorDriverFault(PB_14); DigitalIn motorDriverWarning(PB_15); PwmOut pwmRight(PA_8); PwmOut pwmLeft(PA_9); EncoderCounter counterLeft(PB_6, PB_7); EncoderCounter counterRight(PA_6, PC_7); //------------------------------------------------------------------------------ Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); // Grosse Sensoren aufrufen IRSensorGF Sensor1(sensorValue1); IRSensorG Sensor2(sensorValue2); IRSensorG Sensor3(sensorValue3); // Kleine Sensoren aufrufen IRSensorK Sensor4(sensorValue4); IRSensorK Sensor5(sensorValue5); // Helligkeitssensor aufrufen IRSensorZ Sensor6(sensorValue6); //------------------------------------------------------------------------------ int main() { power_5v = 1; // Einschalten 5V Speisung der Sensoren enable = 1; enableMotorDriver = 1; //Schaltet den Leistungstreiber ein LHR LHR(Sensor1, Sensor2, Sensor3, Sensor4, Sensor5, Sensor6); Spurhaltung spurhaltung(Sensor2, Sensor3); Motion motion(counterLeft, counterRight, controller, spurhaltung, Sensor1, Sensor2, Sensor3, Sensor4, Sensor5, Sensor6); while(1) { if (mybutton == 0) { // Button is pressed wait(1); while (1) { D = LHR.moving(); motion.switching(D); wait(0.2); } } } }