Michael Fluck
/
MyClass
d
Fork of MyClass by
main.cpp
- Committer:
- fluckmi1
- Date:
- 2018-04-19
- Revision:
- 0:af3f2e5c9cd4
File content as of revision 0:af3f2e5c9cd4:
#include <mbed.h> #include "IRSensor.h" #include "Controller.h" #include "EncoderCounter.h" #include "LowpassFilter.h" DigitalOut enable(PC_1); DigitalOut led0(PC_8); DigitalOut led1(PC_6); DigitalOut led2(PB_12); DigitalOut led3(PA_7); DigitalOut led4(PC_0); DigitalOut led5(PC_9); DigitalOut enableMotorDriver(PB_2); DigitalIn motorDriverFault(PB_14); DigitalIn motorDriverWarning(PB_15); PwmOut pwmLeft(PA_8); PwmOut pwmRight(PA_9); EncoderCounter counterLeft(PB_6, PC_7); EncoderCounter counterRight(PA_6, PC_7); Controller controller(pwmLeft, pwmRight, counterLeft, counterRight); AnalogIn distance(PB_1); //Kriterien der Ein- und Ausgabeobjekte DigitalOut bit0(PH_1); DigitalOut bit1(PC_2); DigitalOut bit2(PC_3); IRSensor irSensor0(distance, bit0, bit1, bit2, 0); IRSensor irSensor1(distance, bit0, bit1, bit2, 1); IRSensor irSensor2(distance, bit0, bit1, bit2, 2); IRSensor irSensor3(distance, bit0, bit1, bit2, 3); IRSensor irSensor4(distance, bit0, bit1, bit2, 4); IRSensor irSensor5(distance, bit0, bit1, bit2, 5); int main() { enable = 1; controller.setDesiredSpeedLeft(10.0f); controller.setDesiredSpeedRight(-10.0f); enable=1; enableMotorDriver = 1; while(1) { float distance0 = irSensor0.read(); float distance1 = irSensor1.read(); float distance2 = irSensor2.read(); float distance3 = irSensor3.read(); float distance4 = irSensor4.read(); float distance5 = irSensor5.read(); wait(0.1f); //100ms if (irSensor0.read() < 0.2f) led0 =1; else led0 =0; if (irSensor1.read() < 0.2f) led1 =1; else led0 =0; if (irSensor2.read() < 0.2f) led2 =1; else led0 =0; if (irSensor3.read() < 0.2f) led3 =1; else led0 =0; if (irSensor4.read() < 0.2f) led4 =1; else led0 =0; if (irSensor5.read() < 0.2f) led5 =1; else led0 =0; } }