Michael Fluck / Mbed 2 deprecated MyClass

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Dependencies:   mbed

Fork of MyClass by Roboshark

main.cpp@0:af3f2e5c9cd4, 2018-04-19 (annotated)

Committer:
fluckmi1
Date:
Thu Apr 19 11:53:52 2018 +0000
Revision:
0:af3f2e5c9cd4
peace

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fluckmi1 0:af3f2e5c9cd4 1 #include <mbed.h>
fluckmi1 0:af3f2e5c9cd4 2 #include "IRSensor.h"
fluckmi1 0:af3f2e5c9cd4 3 #include "Controller.h"
fluckmi1 0:af3f2e5c9cd4 4 #include "EncoderCounter.h"
fluckmi1 0:af3f2e5c9cd4 5 #include "LowpassFilter.h"
fluckmi1 0:af3f2e5c9cd4 6
fluckmi1 0:af3f2e5c9cd4 7 DigitalOut enable(PC_1);
fluckmi1 0:af3f2e5c9cd4 8 DigitalOut led0(PC_8);
fluckmi1 0:af3f2e5c9cd4 9 DigitalOut led1(PC_6);
fluckmi1 0:af3f2e5c9cd4 10 DigitalOut led2(PB_12);
fluckmi1 0:af3f2e5c9cd4 11 DigitalOut led3(PA_7);
fluckmi1 0:af3f2e5c9cd4 12 DigitalOut led4(PC_0);
fluckmi1 0:af3f2e5c9cd4 13 DigitalOut led5(PC_9);
fluckmi1 0:af3f2e5c9cd4 14
fluckmi1 0:af3f2e5c9cd4 15 DigitalOut enableMotorDriver(PB_2);
fluckmi1 0:af3f2e5c9cd4 16
fluckmi1 0:af3f2e5c9cd4 17 DigitalIn motorDriverFault(PB_14);
fluckmi1 0:af3f2e5c9cd4 18 DigitalIn motorDriverWarning(PB_15);
fluckmi1 0:af3f2e5c9cd4 19
fluckmi1 0:af3f2e5c9cd4 20 PwmOut pwmLeft(PA_8);
fluckmi1 0:af3f2e5c9cd4 21 PwmOut pwmRight(PA_9);
fluckmi1 0:af3f2e5c9cd4 22
fluckmi1 0:af3f2e5c9cd4 23 EncoderCounter counterLeft(PB_6, PC_7);
fluckmi1 0:af3f2e5c9cd4 24 EncoderCounter counterRight(PA_6, PC_7);
fluckmi1 0:af3f2e5c9cd4 25
fluckmi1 0:af3f2e5c9cd4 26 Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
fluckmi1 0:af3f2e5c9cd4 27
fluckmi1 0:af3f2e5c9cd4 28 AnalogIn distance(PB_1); //Kriterien der Ein- und Ausgabeobjekte
fluckmi1 0:af3f2e5c9cd4 29 DigitalOut bit0(PH_1);
fluckmi1 0:af3f2e5c9cd4 30 DigitalOut bit1(PC_2);
fluckmi1 0:af3f2e5c9cd4 31 DigitalOut bit2(PC_3);
fluckmi1 0:af3f2e5c9cd4 32
fluckmi1 0:af3f2e5c9cd4 33 IRSensor irSensor0(distance, bit0, bit1, bit2, 0);
fluckmi1 0:af3f2e5c9cd4 34 IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
fluckmi1 0:af3f2e5c9cd4 35 IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
fluckmi1 0:af3f2e5c9cd4 36 IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
fluckmi1 0:af3f2e5c9cd4 37 IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
fluckmi1 0:af3f2e5c9cd4 38 IRSensor irSensor5(distance, bit0, bit1, bit2, 5);
fluckmi1 0:af3f2e5c9cd4 39
fluckmi1 0:af3f2e5c9cd4 40 int main() {
fluckmi1 0:af3f2e5c9cd4 41
fluckmi1 0:af3f2e5c9cd4 42 enable = 1;
fluckmi1 0:af3f2e5c9cd4 43
fluckmi1 0:af3f2e5c9cd4 44 controller.setDesiredSpeedLeft(10.0f);
fluckmi1 0:af3f2e5c9cd4 45 controller.setDesiredSpeedRight(-10.0f);
fluckmi1 0:af3f2e5c9cd4 46 enable=1;
fluckmi1 0:af3f2e5c9cd4 47 enableMotorDriver = 1;
fluckmi1 0:af3f2e5c9cd4 48
fluckmi1 0:af3f2e5c9cd4 49 while(1) {
fluckmi1 0:af3f2e5c9cd4 50 float distance0 = irSensor0.read();
fluckmi1 0:af3f2e5c9cd4 51 float distance1 = irSensor1.read();
fluckmi1 0:af3f2e5c9cd4 52 float distance2 = irSensor2.read();
fluckmi1 0:af3f2e5c9cd4 53 float distance3 = irSensor3.read();
fluckmi1 0:af3f2e5c9cd4 54 float distance4 = irSensor4.read();
fluckmi1 0:af3f2e5c9cd4 55 float distance5 = irSensor5.read();
fluckmi1 0:af3f2e5c9cd4 56
fluckmi1 0:af3f2e5c9cd4 57 wait(0.1f); //100ms
fluckmi1 0:af3f2e5c9cd4 58
fluckmi1 0:af3f2e5c9cd4 59
fluckmi1 0:af3f2e5c9cd4 60 if (irSensor0.read() < 0.2f) led0 =1;
fluckmi1 0:af3f2e5c9cd4 61 else led0 =0;
fluckmi1 0:af3f2e5c9cd4 62 if (irSensor1.read() < 0.2f) led1 =1;
fluckmi1 0:af3f2e5c9cd4 63 else led0 =0;
fluckmi1 0:af3f2e5c9cd4 64 if (irSensor2.read() < 0.2f) led2 =1;
fluckmi1 0:af3f2e5c9cd4 65 else led0 =0;
fluckmi1 0:af3f2e5c9cd4 66 if (irSensor3.read() < 0.2f) led3 =1;
fluckmi1 0:af3f2e5c9cd4 67 else led0 =0;
fluckmi1 0:af3f2e5c9cd4 68 if (irSensor4.read() < 0.2f) led4 =1;
fluckmi1 0:af3f2e5c9cd4 69 else led0 =0;
fluckmi1 0:af3f2e5c9cd4 70 if (irSensor5.read() < 0.2f) led5 =1;
fluckmi1 0:af3f2e5c9cd4 71 else led0 =0;
fluckmi1 0:af3f2e5c9cd4 72 }
fluckmi1 0:af3f2e5c9cd4 73 }
fluckmi1 0:af3f2e5c9cd4 74