David Burg
/
PingPongSenSon
it is veri gud program
Fork of BertlTemplate2 by
BertlTemplate.cpp
- Committer:
- david_burg
- Date:
- 2017-05-30
- Revision:
- 5:ea4229d52ab6
- Parent:
- 4:4b71af20b3b7
File content as of revision 5:ea4229d52ab6:
#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 void FollowLineUntilEnd(); void TurnUntilLine(); int main(void) { InitBertl(); pex.useISR=0; leds=9; pex.ClearLeds(); pex.WaitUntilButtonPressed(); boardPow = 3; wait_ms(10); while(1) { FollowLineUntilEnd(); wait_ms(1000); TurnUntilLine(); wait_ms(1000); } } void FollowLineUntilEnd() { mL.SetPow(0.2); mR.SetPow(0.2); while(1) { if(ls1.Read() > 900) { mL.SetPow(0); mR.SetPow(0.8); } else { mL.SetPow(0.8); mR.SetPow(0); } if(ls1.Read() < 300 && ls2.Read() < 300 && ls3.Read() < 300 && ls4.Read() < 300) { mL.SetPow(0); mR.SetPow(0); return; } } } void TurnUntilLine() { mL.SetPow(0.8); mR.SetPow(-0.8); while(1) { if(ls1.Read() > 900 || ls2.Read() > 900 || ls3.Read() > 900 || ls4.Read() > 900) { mL.SetPow(0);mR.SetPow(0); return; } } }