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);
        }
    }
}

config.h

Committer:
fpucher
Date:
2016-02-19
Revision:
18:e9bb4513ae3a
Parent:
15:43d6a7e6e64a

File content as of revision 18:e9bb4513ae3a:

/*! \file config.h
\brief A Documented file.
* name:   config.h    Version: 3.2 \n
* author: PE HTL BULME \n
* email:  pe@bulme.at \n
* description:
*    Wiring for ur_Bertl The Robot
*/

#include "mbed.h"
#include "hcsr04.h"
#include "const.h"

#ifndef CONFIG_H
#define CONFIG_H
/*! \def DEBUG
\brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */
#define DEBUG 0
//#define FRONTBUTTON       /**< Error shutoff if Bertl moves against a wall*/
#define HCSR                /**< if ultrsonic is installed*/
#define MOTORENC P1_13        /**< P1_12: left encoder P1_13: right 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 */
DigitalOut LED_D11(P1_9);    /**<  wiring second LED_D11 */
DigitalOut LED_D12(P1_10);   /**<  wiring thired LED_D12 */
DigitalOut LED_D13(P1_11);   /**<  wiring fourth LED_D13 */

DigitalOut LED_blue(P1_28);  /**<  all blue LEDs are on Port 1_28   */ 

DigitalOut RGB_blue(P1_24);  /**< RGB blue component of the color uP -> Port 1_24 */
DigitalOut RGB_red(P1_23);   /**< RGB red component of the color uP -> Port 1_23 */    
DigitalOut RGB_green(P1_25); /**< RGB green component of the color uP -> Port 1_25 */ 

//------------------ CHANGE ONLY IF NESSESARY -------------------------------------

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);    // change to P1_4 for Bertl 2015
DigitalOut MotorR_REVERSE(P1_4);    // change to P1_3 for Bertl 2015

I2C i2c(p28,p27);   
// InterruptIn PushButton(P0_8);    // Interrupt I2C Tasten
BusIn linesensor(p18, p16, p19, p17);  
BusIn linesensor5(p18, p16, p20, p19, p17); /**<  Bertl15 additonal Sensor in the middle */
DigitalIn SensorL(P1_12);     /**<  motor sensor left on Port P1_12 */
DigitalIn SensorR(P1_13);     /**<  motor sensor right on Port P1_13 */
HCSR04  usensor(p21,p22);     // HC-SR04 ultrasonic sensor
PwmOut mg1(P1_15);            // PWM out motor left
PwmOut mg2(P0_21);            // PWM out motor right

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)
#else
 #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */
#endif

#endif