Georg Jonak / Mbed 2 deprecated _B16_lLichtsensor

zum Lieniennachfahren

Dependencies:   mbed

Fork of BertlLichtsensor by Georg Jonak

main.cpp@0:5a3252c331b4, 2016-06-06 (annotated)

Committer:
georgjonak
Date:
Mon Jun 06 11:35:37 2016 +0000
Revision:
0:5a3252c331b4
Lichtsensor zum Liniennachfahren;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
georgjonak 0:5a3252c331b4 1 #include "mbed.h"
georgjonak 0:5a3252c331b4 2
georgjonak 0:5a3252c331b4 3 DigitalOut Von (P2_13); // 12 V ON
georgjonak 0:5a3252c331b4 4 DigitalOut LineON (P2_5); // Line Sensor aktivieren
georgjonak 0:5a3252c331b4 5 DigitalIn ISO1 (P1_9); // ISO1
georgjonak 0:5a3252c331b4 6 DigitalIn ISO2 (P0_16);
georgjonak 0:5a3252c331b4 7 DigitalIn ISO3 (P0_23);
georgjonak 0:5a3252c331b4 8 DigitalIn ISO4 (P0_15);
georgjonak 0:5a3252c331b4 9 DigitalIn ISO5 (P1_3);
georgjonak 0:5a3252c331b4 10
georgjonak 0:5a3252c331b4 11 DigitalOut LedD1 (P1_10);
georgjonak 0:5a3252c331b4 12 DigitalOut LedD2 (P1_11);
georgjonak 0:5a3252c331b4 13 DigitalOut LedD4 (P1_12);
georgjonak 0:5a3252c331b4 14 DigitalOut LedD5 (P1_13);
georgjonak 0:5a3252c331b4 15 DigitalOut LedD6 (P1_14);
georgjonak 0:5a3252c331b4 16 DigitalOut LedD7 (P1_15);
georgjonak 0:5a3252c331b4 17 DigitalOut LedD8 (P1_16);
georgjonak 0:5a3252c331b4 18 DigitalOut LedD9 (P1_17);
georgjonak 0:5a3252c331b4 19 DigitalOut LedD10 (P1_18);
georgjonak 0:5a3252c331b4 20 DigitalOut LedD11 (P2_16);
georgjonak 0:5a3252c331b4 21 DigitalOut LedD12 (P1_20);
georgjonak 0:5a3252c331b4 22 DigitalOut LedD13 (P1_21);
georgjonak 0:5a3252c331b4 23
georgjonak 0:5a3252c331b4 24 PwmOut MotorL_EN(P1_19);
georgjonak 0:5a3252c331b4 25 DigitalOut MotorL_FORWARD(P2_15); // Forwerts
georgjonak 0:5a3252c331b4 26 DigitalOut MotorL_REVERSE(P2_14); // Rückwerts
georgjonak 0:5a3252c331b4 27
georgjonak 0:5a3252c331b4 28 PwmOut MotorR_EN(P2_19);
georgjonak 0:5a3252c331b4 29 DigitalOut MotorR_FORWARD(P2_20);
georgjonak 0:5a3252c331b4 30 DigitalOut MotorR_REVERSE(P2_21);
georgjonak 0:5a3252c331b4 31
georgjonak 0:5a3252c331b4 32 int main() {
georgjonak 0:5a3252c331b4 33 Von=1;
georgjonak 0:5a3252c331b4 34 LineON=1;
georgjonak 0:5a3252c331b4 35 MotorL_EN=1;
georgjonak 0:5a3252c331b4 36 MotorR_EN=1;
georgjonak 0:5a3252c331b4 37
georgjonak 0:5a3252c331b4 38
georgjonak 0:5a3252c331b4 39 while (1) {
georgjonak 0:5a3252c331b4 40 MotorL_FORWARD = 1;
georgjonak 0:5a3252c331b4 41 MotorR_FORWARD = 1;
georgjonak 0:5a3252c331b4 42 MotorL_EN.period_ms (10);
georgjonak 0:5a3252c331b4 43 MotorR_EN.period_ms (10);
georgjonak 0:5a3252c331b4 44 MotorL_EN = 0.3f;
georgjonak 0:5a3252c331b4 45 MotorR_EN.pulsewidth_ms(3);
georgjonak 0:5a3252c331b4 46 MotorR_EN = 0.3f;
georgjonak 0:5a3252c331b4 47 MotorL_EN.pulsewidth_ms(3);
georgjonak 0:5a3252c331b4 48
georgjonak 0:5a3252c331b4 49
georgjonak 0:5a3252c331b4 50 if(ISO1 ==1){
georgjonak 0:5a3252c331b4 51 LedD1 =1;
georgjonak 0:5a3252c331b4 52 MotorL_EN = 1.0f;
georgjonak 0:5a3252c331b4 53 MotorR_EN.pulsewidth_ms(10);
georgjonak 0:5a3252c331b4 54 MotorR_EN = 1.0f;
georgjonak 0:5a3252c331b4 55 MotorL_EN.pulsewidth_ms(10);
georgjonak 0:5a3252c331b4 56
georgjonak 0:5a3252c331b4 57 MotorR_FORWARD=0;
georgjonak 0:5a3252c331b4 58 MotorL_FORWARD=0;
georgjonak 0:5a3252c331b4 59
georgjonak 0:5a3252c331b4 60 MotorR_FORWARD=1;
georgjonak 0:5a3252c331b4 61 MotorL_REVERSE=1;
georgjonak 0:5a3252c331b4 62 }
georgjonak 0:5a3252c331b4 63
georgjonak 0:5a3252c331b4 64 if(ISO4 ==1){
georgjonak 0:5a3252c331b4 65 LedD1 =1;
georgjonak 0:5a3252c331b4 66 MotorL_EN = 1.0f;
georgjonak 0:5a3252c331b4 67 MotorR_EN.pulsewidth_ms(10);
georgjonak 0:5a3252c331b4 68 MotorR_EN = 1.0f;
georgjonak 0:5a3252c331b4 69 MotorL_EN.pulsewidth_ms(10);
georgjonak 0:5a3252c331b4 70
georgjonak 0:5a3252c331b4 71 MotorR_FORWARD=0;
georgjonak 0:5a3252c331b4 72 MotorL_FORWARD=0;
georgjonak 0:5a3252c331b4 73 MotorL_FORWARD=1;
georgjonak 0:5a3252c331b4 74 MotorR_REVERSE=1;
georgjonak 0:5a3252c331b4 75
georgjonak 0:5a3252c331b4 76 }
georgjonak 0:5a3252c331b4 77 wait (0.01);
georgjonak 0:5a3252c331b4 78 MotorL_FORWARD=0;
georgjonak 0:5a3252c331b4 79 MotorR_REVERSE=0;
georgjonak 0:5a3252c331b4 80 MotorR_FORWARD=0;
georgjonak 0:5a3252c331b4 81 MotorL_REVERSE=0;
georgjonak 0:5a3252c331b4 82 }}
georgjonak 0:5a3252c331b4 83
georgjonak 0:5a3252c331b4 84
georgjonak 0:5a3252c331b4 85
georgjonak 0:5a3252c331b4 86