Diff: main.cpp

Revision:

0:26ddfe6c824d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Apr 24 09:17:19 2015 +0000
@@ -0,0 +1,77 @@
+#include "ur_Bertl.h"
+#include "mbed.h"
+#include "const.h"
+#include "Robot.h"
+
+class task_Bertl : public ur_Bertl
+{
+public:
+    void TurnRight() {
+        TurnLeft();
+        TurnLeft();
+        TurnLeft();
+    }
+    void Move2Boxes() {
+        Move();
+        Move();
+    }
+    void ClearAllBeepersToTheWall();
+};
+
+
+
+void task_Bertl :: ClearAllBeepersToTheWall()
+{
+    while (FrontIsClear()) {
+        if ( NextToABeeper()) {
+            PickBeeper();
+            Move();}
+        else {
+            Move();}
+    }
+}
+
+int main ()
+{
+    task_Bertl karel;
+
+    // Task 1 & 2
+
+    while(karel.WaitUntilButtonPressed()){}
+
+    while(karel.IsButtonPressed(BTN_FLL)) { // Vorne Links
+        karel.TurnLedOn(0x01);
+        wait(0.3);
+        karel.TurnLedOn(0x00);
+        wait(0.3);
+    }
+
+    while(karel.IsButtonPressed(BTN_FRR)) { // Vorne Rechts
+        karel.TurnLedOn(0x04);
+        wait(0.3);
+        karel.TurnLedOn(0x00);
+        wait(0.3);
+    }
+
+    while(karel.IsButtonPressed(BTN_BR)) { // Hinten Rechts
+        karel.TurnLedOn(0x80 | 0x40);
+        wait(0.3);
+        karel.TurnLedOn(0x00);
+        wait(0.3);
+    }
+    
+    while(karel.IsButtonPressed(BTN_BL)) { // Hinten Links
+        karel.TurnLedOn(0x20 | 0x10 );
+        wait(0.3);
+        karel.TurnLedOn(0x00);
+        wait(0.3);
+    }
+
+    while(!karel.IsButtonPressed(BTN_FLL && BTN_FRR && BTN_BR && BTN_BL)) {
+        karel.TurnLedOn(0x00);}
+    
+    
+    if(karel.IsButtonPressed(BTN_BM))
+        karel.TurnLedOff(0xFF);
+
+}
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