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);
        }
    }
}

Diff: config.h

Revision:
15:43d6a7e6e64a
Parent:
13:3ce84646fd74
Child:
18:e9bb4513ae3a
--- a/config.h	Mon Apr 27 13:13:45 2015 +0000
+++ b/config.h	Fri May 08 08:39:12 2015 +0000
@@ -18,7 +18,7 @@
 #define DEBUG 0
 //#define FRONTBUTTON       /**< Error shutoff if Bertl moves against a wall*/
 #define HCSR                /**< if ultrsonic is installed*/
-#define MOTORENC P1_12        /**< P1_12: left encoder P1_13: rigth encoder (motor) */
+#define MOTORENC P1_13        /**< P1_12: left encoder P1_13: rigth encoder (motor) */
 
 BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11);   /**< 4 yellow LEDs as a bus defined; use it i.e.: karel.NibbleLeds(karel.GetLineValues()); to show line sensor values */
 DigitalOut LED_D10(P1_8);    /**<  wiring first LED_D10 */
@@ -34,13 +34,13 @@
 
 //------------------ CHANGE ONLY IF NESSESARY -------------------------------------
 
-DigitalOut MotorL_EN(p34);    // wiring motor left
-DigitalOut MotorL_FORWARD(P1_1);
-DigitalOut MotorL_REVERSE(P1_0);
+DigitalOut MotorL_EN(p34);          // wiring motor left
+DigitalOut MotorL_FORWARD(P1_1);    // change to P1_0 for Bertl 2015
+DigitalOut MotorL_REVERSE(P1_0);    // change to P1_1 for Bertl 2015
 
-DigitalOut MotorR_EN(p36);     // wiring motor right
-DigitalOut MotorR_FORWARD(P1_3);
-DigitalOut MotorR_REVERSE(P1_4);
+DigitalOut MotorR_EN(p36);          // wiring motor right
+DigitalOut MotorR_FORWARD(P1_3);    // change to P1_4 for Bertl 2015
+DigitalOut MotorR_REVERSE(P1_4);    // change to P1_3 for Bertl 2015
 
 I2C i2c(p28,p27);   
 BusIn linesensor(p18, p16, p19, p17);  
@@ -52,6 +52,11 @@
 
 Serial pc(USBTX, USBRX);      // tx, rx  
 
+// Bertl 2015
+DigitalOut MotorSpg (p30);
+DigitalOut IncrementalgeberSpg (P1_7);
+DigitalOut LinienSensorSpg (P1_6);
+
 #if defined(DEBUG) && DEBUG > 0
  #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
     __FILE__, __LINE__, __func__, ##args)