Leds work simultanously. Version 3.1
Dependents: bertl_led bertl_led bertl_led bertl_led ... more
Fork of Bertl by
BULME HTL Graz-Gösting
FSST - Hardwarenahe Programmierung
Created by Prof.Dr. Franz Pucher
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
- Committer:
- fpucher
- Date:
- 2016-02-19
- Revision:
- 18:e9bb4513ae3a
- Parent:
- 17:308802267a62
File content as of revision 18:e9bb4513ae3a:
/*! \file const.h \brief A Documented file. * name: const.h Version: 3.2 \n * author: PE HTL BULME \n * email: pe@bulme.at \n * description: * Constants for ur_Bertl The Robot * Constant for Robot from objectiv Robot added */ #ifndef CONST_H #define CONST_H #define TIME /**< if defined Bertl uses the time and not motor encoder*/ const int MOVE=500; /**< ms move forward or backward */ const int TURN=500; /**< ms TurnLeft or TurnRight (nearly 90 degree) */ const int STEPTIME=20; /**< ms turn left or right for adjusting moves for TurnLeft or TurnRight */ /*! \var int ULTRASONIC_DISTANCE \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm. \warning no warning*/ const int ULTRASONIC_DISTANCE = 6; /* Distance sensor */ /*! \var int SPEED \brief Bertl speed 0.2 (slow) - 1.0 (fast). \warning speed below 0.2 possible the motor won't start */ const float SPEED = 0.1; /* Bertl speed 0.2 (slow) - 1.0 (fast) */ /*! \var int DISTANCE \brief one wheel turn is appr. 24 ticks. \warning maybe the number has to be adjusted */ const int DISTANCE = 12; /* one wheel turn is appr. 24 ticks */ /*! \var int ANGLE \brief 12 is nearly 90 degree turn left. \warning maybe the number has to be adjusted */ const int ANGLE = 12; /* nearly 90 degree turn left */ const int BTN_FLL = 0x80; /**< button front left outer */ const int BTN_FL = 0x04; /**< button front left */ const int BTN_FM = 0x01; /**< button front middle*/ const int BTN_FR = 0x08; /**< button front right */ const int BTN_FRR = 0x40; /**< button front right outer*/ const int BTN_BL = 0x10; /**< button back left*/ const int BTN_BM = 0x02; /**< button back middle*/ const int BTN_BR = 0x20; /**< button back right*/ const int LED_FL1 = 0x01; /**< front LED white */ const int LED_FL2 = 0x02; /**< front LED yellow */ const int LED_FR1 = 0x04; /**< front LED white */ const int LED_FR2 = 0x08; /**< front LED yellow */ const int LED_ALL_FRONT = 0x0F; const int LED_BL1 = 0x20; /**< yellow LED back left outer */ const int LED_BL2 = 0x10; /**< red LED back left inner */ const int LED_BR1 = 0x80; /**< yellow LED back right outer */ const int LED_BR2 = 0x40; /**< red LED back right inner */ const int LED_ALL_BACK = 0xF0; const int LED_ALL = 0xFF; const int LED_BLUE = 0xBB; const int addr = 0x40; // I2C-address PCA9555 const int PERIOD = 20; // PWM period const int PULSWIDTH = 5; // PWN pulswidth const int East = 1; const int West = 2; const int North = 3; const int South = 4; #endif