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

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