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@18:e9bb4513ae3a, 2016-02-19 (annotated)

Committer:
fpucher
Date:
Fri Feb 19 15:28:42 2016 +0000
Revision:
18:e9bb4513ae3a
Parent:
17:308802267a62 
Version 3.2

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.
fpucher 18:e9bb4513ae3a 3 * name: const.h Version: 3.2 \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 8:07e55b300ff1 7 * Constants for ur_Bertl The Robot
bulmecisco 8:07e55b300ff1 8 * Constant for Robot from objectiv Robot added
bulmecisco 0:66e9a0afcbd6 9 */
bulmecisco 0:66e9a0afcbd6 10 #ifndef CONST_H
bulmecisco 0:66e9a0afcbd6 11 #define CONST_H
bulmecisco 12:cedc088eaf05 12 #define TIME /**< if defined Bertl uses the time and not motor encoder*/
bulmecisco 12:cedc088eaf05 13 const int MOVE=500; /**< ms move forward or backward */
fpucher 18:e9bb4513ae3a 14 const int TURN=500; /**< ms TurnLeft or TurnRight (nearly 90 degree) */
fpucher 18:e9bb4513ae3a 15 const int STEPTIME=20; /**< ms turn left or right for adjusting moves for TurnLeft or TurnRight */
bulmecisco 0:66e9a0afcbd6 16
bulmecisco 6:df6830254e8b 17 /*! \var int ULTRASONIC_DISTANCE
bulmecisco 6:df6830254e8b 18 \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm.
bulmecisco 6:df6830254e8b 19 \warning no warning*/
fpucher 18:e9bb4513ae3a 20 const int ULTRASONIC_DISTANCE = 6; /* Distance sensor */
bulmecisco 0:66e9a0afcbd6 21 /*! \var int SPEED
bulmecisco 0:66e9a0afcbd6 22 \brief Bertl speed 0.2 (slow) - 1.0 (fast).
bulmecisco 0:66e9a0afcbd6 23 \warning speed below 0.2 possible the motor won't start */
fpucher 18:e9bb4513ae3a 24 const float SPEED = 0.1; /* Bertl speed 0.2 (slow) - 1.0 (fast) */
bulmecisco 0:66e9a0afcbd6 25 /*! \var int DISTANCE
bulmecisco 0:66e9a0afcbd6 26 \brief one wheel turn is appr. 24 ticks.
bulmecisco 0:66e9a0afcbd6 27 \warning maybe the number has to be adjusted */
bulmecisco 4:76acfddc26fb 28 const int DISTANCE = 12; /* one wheel turn is appr. 24 ticks */
bulmecisco 0:66e9a0afcbd6 29 /*! \var int ANGLE
bulmecisco 0:66e9a0afcbd6 30 \brief 12 is nearly 90 degree turn left.
bulmecisco 0:66e9a0afcbd6 31 \warning maybe the number has to be adjusted */
bulmecisco 12:cedc088eaf05 32 const int ANGLE = 12; /* nearly 90 degree turn left */
bulmecisco 0:66e9a0afcbd6 33
fpucher 17:308802267a62 34 const int BTN_FLL = 0x80; /**< button front left outer */
fpucher 17:308802267a62 35 const int BTN_FL = 0x04; /**< button front left */
fpucher 17:308802267a62 36 const int BTN_FM = 0x01; /**< button front middle*/
fpucher 17:308802267a62 37 const int BTN_FR = 0x08; /**< button front right */
fpucher 17:308802267a62 38 const int BTN_FRR = 0x40; /**< button front right outer*/
fpucher 17:308802267a62 39 const int BTN_BL = 0x10; /**< button back left*/
fpucher 17:308802267a62 40 const int BTN_BM = 0x02; /**< button back middle*/
fpucher 17:308802267a62 41 const int BTN_BR = 0x20; /**< button back right*/
bulmecisco 0:66e9a0afcbd6 42
bulmecisco 0:66e9a0afcbd6 43 const int LED_FL1 = 0x01; /**< front LED white */
bulmecisco 0:66e9a0afcbd6 44 const int LED_FL2 = 0x02; /**< front LED yellow */
bulmecisco 0:66e9a0afcbd6 45 const int LED_FR1 = 0x04; /**< front LED white */
bulmecisco 0:66e9a0afcbd6 46 const int LED_FR2 = 0x08; /**< front LED yellow */
bulmecisco 0:66e9a0afcbd6 47 const int LED_ALL_FRONT = 0x0F;
bulmecisco 0:66e9a0afcbd6 48
bulmecisco 0:66e9a0afcbd6 49 const int LED_BL1 = 0x20; /**< yellow LED back left outer */
bulmecisco 0:66e9a0afcbd6 50 const int LED_BL2 = 0x10; /**< red LED back left inner */
bulmecisco 0:66e9a0afcbd6 51 const int LED_BR1 = 0x80; /**< yellow LED back right outer */
bulmecisco 0:66e9a0afcbd6 52 const int LED_BR2 = 0x40; /**< red LED back right inner */
bulmecisco 0:66e9a0afcbd6 53 const int LED_ALL_BACK = 0xF0;
bulmecisco 0:66e9a0afcbd6 54 const int LED_ALL = 0xFF;
bulmecisco 0:66e9a0afcbd6 55
bulmecisco 1:fafbac0ba96d 56 const int LED_BLUE = 0xBB;
bulmecisco 1:fafbac0ba96d 57
bulmecisco 0:66e9a0afcbd6 58 const int addr = 0x40; // I2C-address PCA9555
bulmecisco 0:66e9a0afcbd6 59 const int PERIOD = 20; // PWM period
bulmecisco 0:66e9a0afcbd6 60 const int PULSWIDTH = 5; // PWN pulswidth
bulmecisco 8:07e55b300ff1 61 const int East = 1;
bulmecisco 8:07e55b300ff1 62 const int West = 2;
bulmecisco 8:07e55b300ff1 63 const int North = 3;
bulmecisco 8:07e55b300ff1 64 const int South = 4;
bulmecisco 15:43d6a7e6e64a 65
bulmecisco 0:66e9a0afcbd6 66 #endif