Franz Pucher / Bertl

Leds work simultanously. Version 3.1

Dependencies:   HCSR

Dependents:   bertl_led bertl_led bertl_led bertl_led ... more

Fork of Bertl by Bertl_Team_PE

BULME HTL Graz-Gösting

FSST - Hardwarenahe Programmierung

Created by Prof.Dr. Franz Pucher

Inhalt

Inhalt

Start mit folgendem Code in main.cpp eines neuen Projektes mbed_blinky:

#include "mbed.h"
#include "const.h"
#include "Robot.h"

Robot bertl;
    
int main()
{
    bertl.NibbleLeds(0x0F);
    wait(1);
    bertl.NibbleLeds(0x00);
    
    while(1)
    {
        if(bertl.IsButtonPressed(BTN_BL))
        {
            bertl.TurnLedOn(LED_BL1);
        }
        if(bertl.IsButtonPressed(BTN_BR))
        {
            bertl.TurnLedOff(LED_BL1);
        }
    }
}

const.h@6:df6830254e8b, 2015-04-10 (annotated)

Committer:
bulmecisco
Date:
Fri Apr 10 09:31:54 2015 +0000
Revision:
6:df6830254e8b
Parent:
4:76acfddc26fb
Child:
8:07e55b300ff1
Constant ULTRASONIC_DISTANCE added.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bulmecisco 0:66e9a0afcbd6 1 /*! \file const.h
bulmecisco 0:66e9a0afcbd6 2 \brief A Documented file.
bulmecisco 4:76acfddc26fb 3 * name: const.h Version: 1.0 \n
bulmecisco 4:76acfddc26fb 4 * author: PE HTL BULME \n
bulmecisco 4:76acfddc26fb 5 * email: pe@bulme.at \n
bulmecisco 0:66e9a0afcbd6 6 * description:
bulmecisco 0:66e9a0afcbd6 7 * Constants for ur_Bertl The Robot
bulmecisco 0:66e9a0afcbd6 8 */
bulmecisco 0:66e9a0afcbd6 9 #ifndef CONST_H
bulmecisco 0:66e9a0afcbd6 10 #define CONST_H
bulmecisco 3:01b183fe8b41 11 #define TIME
bulmecisco 2:1cd559ff516b 12 const int MOVE=500;
bulmecisco 2:1cd559ff516b 13 const int TURN=500;
bulmecisco 0:66e9a0afcbd6 14
bulmecisco 6:df6830254e8b 15 /*! \var int ULTRASONIC_DISTANCE
bulmecisco 6:df6830254e8b 16 \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm.
bulmecisco 6:df6830254e8b 17 \warning no warning*/
bulmecisco 6:df6830254e8b 18 const int ULTRASONIC_DISTANCE = 5; /* Distance sensor */
bulmecisco 0:66e9a0afcbd6 19 /*! \var int SPEED
bulmecisco 0:66e9a0afcbd6 20 \brief Bertl speed 0.2 (slow) - 1.0 (fast).
bulmecisco 0:66e9a0afcbd6 21 \warning speed below 0.2 possible the motor won't start */
bulmecisco 0:66e9a0afcbd6 22 const float SPEED = 0.2; /* Bertl speed 0.2 (slow) - 1.0 (fast) */
bulmecisco 0:66e9a0afcbd6 23 /*! \var int DISTANCE
bulmecisco 0:66e9a0afcbd6 24 \brief one wheel turn is appr. 24 ticks.
bulmecisco 0:66e9a0afcbd6 25 \warning maybe the number has to be adjusted */
bulmecisco 4:76acfddc26fb 26 const int DISTANCE = 12; /* one wheel turn is appr. 24 ticks */
bulmecisco 0:66e9a0afcbd6 27 /*! \var int ANGLE
bulmecisco 0:66e9a0afcbd6 28 \brief 12 is nearly 90 degree turn left.
bulmecisco 0:66e9a0afcbd6 29 \warning maybe the number has to be adjusted */
bulmecisco 0:66e9a0afcbd6 30 const int ANGLE = 12; /* nearly 90 degree turn left */
bulmecisco 0:66e9a0afcbd6 31
bulmecisco 0:66e9a0afcbd6 32 const int BTN_FLL = 0x80; // button front left outer
bulmecisco 0:66e9a0afcbd6 33 const int BTN_FL = 0x04; // button front left
bulmecisco 0:66e9a0afcbd6 34 const int BTN_FM = 0x01; // button front middle
bulmecisco 0:66e9a0afcbd6 35 const int BTN_FR = 0x08; // button front right
bulmecisco 0:66e9a0afcbd6 36 const int BTN_FRR = 0x40; // button front right outer
bulmecisco 0:66e9a0afcbd6 37 const int BTN_BL = 0x10; // button back left
bulmecisco 0:66e9a0afcbd6 38 const int BTN_BM = 0x02; // button back middle
bulmecisco 0:66e9a0afcbd6 39 const int BTN_BR = 0x20; // button back right
bulmecisco 0:66e9a0afcbd6 40
bulmecisco 0:66e9a0afcbd6 41 const int LED_FL1 = 0x01; /**< front LED white */
bulmecisco 0:66e9a0afcbd6 42 const int LED_FL2 = 0x02; /**< front LED yellow */
bulmecisco 0:66e9a0afcbd6 43 const int LED_FR1 = 0x04; /**< front LED white */
bulmecisco 0:66e9a0afcbd6 44 const int LED_FR2 = 0x08; /**< front LED yellow */
bulmecisco 0:66e9a0afcbd6 45 const int LED_ALL_FRONT = 0x0F;
bulmecisco 0:66e9a0afcbd6 46
bulmecisco 0:66e9a0afcbd6 47 const int LED_BL1 = 0x20; /**< yellow LED back left outer */
bulmecisco 0:66e9a0afcbd6 48 const int LED_BL2 = 0x10; /**< red LED back left inner */
bulmecisco 0:66e9a0afcbd6 49 const int LED_BR1 = 0x80; /**< yellow LED back right outer */
bulmecisco 0:66e9a0afcbd6 50 const int LED_BR2 = 0x40; /**< red LED back right inner */
bulmecisco 0:66e9a0afcbd6 51 const int LED_ALL_BACK = 0xF0;
bulmecisco 0:66e9a0afcbd6 52 const int LED_ALL = 0xFF;
bulmecisco 0:66e9a0afcbd6 53
bulmecisco 1:fafbac0ba96d 54 const int LED_BLUE = 0xBB;
bulmecisco 1:fafbac0ba96d 55
bulmecisco 0:66e9a0afcbd6 56 const int addr = 0x40; // I2C-address PCA9555
bulmecisco 0:66e9a0afcbd6 57 const int PERIOD = 20; // PWM period
bulmecisco 0:66e9a0afcbd6 58 const int PULSWIDTH = 5; // PWN pulswidth
bulmecisco 0:66e9a0afcbd6 59
bulmecisco 0:66e9a0afcbd6 60
bulmecisco 0:66e9a0afcbd6 61 #endif