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Dependencies:   mbed

main.cpp@1:8b600c187fe6, 2020-02-26 (annotated)

Committer:
wengefa1
Date:
Wed Feb 26 12:49:12 2020 +0000
Revision:
1:8b600c187fe6
Parent:
0:c88f41ac2cb7
Child:
2:f381fc3a8eaf
Aufgabe 4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wengefa1 0:c88f41ac2cb7 1 #include "mbed.h"
wengefa1 0:c88f41ac2cb7 2 #include "IRSensor.h"
wengefa1 0:c88f41ac2cb7 3
wengefa1 0:c88f41ac2cb7 4 DigitalOut myled(LED1);
wengefa1 0:c88f41ac2cb7 5 DigitalIn mybutton(BUTTON1);
wengefa1 0:c88f41ac2cb7 6
wengefa1 0:c88f41ac2cb7 7 AnalogIn v_distance(PA_0); // Kreieren der Ein- und Ausgangsobjekte
wengefa1 0:c88f41ac2cb7 8 DigitalOut enable(PG_1);
wengefa1 0:c88f41ac2cb7 9 DigitalOut bit0(PF_0);
wengefa1 0:c88f41ac2cb7 10 DigitalOut bit1(PF_1);
wengefa1 0:c88f41ac2cb7 11 DigitalOut bit2(PF_2);
wengefa1 0:c88f41ac2cb7 12
wengefa1 0:c88f41ac2cb7 13 DigitalOut led0(PD_4);
wengefa1 0:c88f41ac2cb7 14 DigitalOut led1(PD_3);
wengefa1 0:c88f41ac2cb7 15 DigitalOut led2(PD_6);
wengefa1 0:c88f41ac2cb7 16 DigitalOut led3(PD_2);
wengefa1 0:c88f41ac2cb7 17 DigitalOut led4(PD_7);
wengefa1 0:c88f41ac2cb7 18 DigitalOut led5(PD_5);
wengefa1 0:c88f41ac2cb7 19
wengefa1 1:8b600c187fe6 20 DigitalOut en_Motor(PG_0);
wengefa1 1:8b600c187fe6 21 DigitalIn Error_Motor(PD_1);
wengefa1 1:8b600c187fe6 22 DigitalIn Warn_Motor(PD_0);
wengefa1 1:8b600c187fe6 23 PWMOut MotorLeft(PF_9);
wengefa1 1:8b600c187fe6 24 PWMOut MotorRight(PF_8);
wengefa1 0:c88f41ac2cb7 25
wengefa1 0:c88f41ac2cb7 26
wengefa1 0:c88f41ac2cb7 27 IRSensor S_hinten(v_distance, bit0 , bit1, bit2, 0);
wengefa1 0:c88f41ac2cb7 28 IRSensor S_hinten_links(v_distance, bit0 , bit1, bit2, 1);
wengefa1 0:c88f41ac2cb7 29 IRSensor S_vorne_links(v_distance, bit0 , bit1, bit2, 2);
wengefa1 0:c88f41ac2cb7 30 IRSensor S_vorne(v_distance, bit0 , bit1, bit2, 3);
wengefa1 0:c88f41ac2cb7 31 IRSensor S_vorne_rechts(v_distance, bit0 , bit1, bit2, 4);
wengefa1 0:c88f41ac2cb7 32 IRSensor S_hinten_rechts(v_distance, bit0 , bit1, bit2, 5);
wengefa1 0:c88f41ac2cb7 33
wengefa1 0:c88f41ac2cb7 34 int main() {
wengefa1 1:8b600c187fe6 35 //Set Motor Settings
wengefa1 1:8b600c187fe6 36 MotorLeft.period(0.00005);
wengefa1 1:8b600c187fe6 37 MotorRight.period(0.00005);
wengefa1 1:8b600c187fe6 38
wengefa1 1:8b600c187fe6 39 MotorLeft = 0.5;
wengefa1 1:8b600c187fe6 40 MotorRight = 0.5;
wengefa1 1:8b600c187fe6 41
wengefa1 1:8b600c187fe6 42 en_Motor = 1;
wengefa1 1:8b600c187fe6 43
wengefa1 1:8b600c187fe6 44 //Set IR Setting
wengefa1 0:c88f41ac2cb7 45 enable = 1;
wengefa1 1:8b600c187fe6 46
wengefa1 1:8b600c187fe6 47
wengefa1 0:c88f41ac2cb7 48 while(1) {
wengefa1 0:c88f41ac2cb7 49 float distance0 = S_hinten.read(); // gibt die Distanz in [m] zurueck
wengefa1 0:c88f41ac2cb7 50 float distance1 = S_hinten_links.read();
wengefa1 0:c88f41ac2cb7 51 float distance2 = S_vorne_links.read();
wengefa1 0:c88f41ac2cb7 52 float distance3 = S_vorne.read();
wengefa1 0:c88f41ac2cb7 53 float distance4 = S_vorne_rechts.read();
wengefa1 0:c88f41ac2cb7 54 float distance5 = S_hinten_rechts.read();
wengefa1 0:c88f41ac2cb7 55
wengefa1 0:c88f41ac2cb7 56 if(distance0 < 0.2f){
wengefa1 0:c88f41ac2cb7 57 led0 = 1;
wengefa1 0:c88f41ac2cb7 58 }else{
wengefa1 0:c88f41ac2cb7 59 led0 = 0;
wengefa1 0:c88f41ac2cb7 60 }
wengefa1 0:c88f41ac2cb7 61 if(distance1 < 0.2f){
wengefa1 0:c88f41ac2cb7 62 led1 = 1;
wengefa1 0:c88f41ac2cb7 63 }else{
wengefa1 0:c88f41ac2cb7 64 led1 = 0;
wengefa1 0:c88f41ac2cb7 65 }
wengefa1 0:c88f41ac2cb7 66 if(distance2 < 0.2f){
wengefa1 0:c88f41ac2cb7 67 led2 = 1;
wengefa1 0:c88f41ac2cb7 68 }else{
wengefa1 0:c88f41ac2cb7 69 led2 = 0;
wengefa1 0:c88f41ac2cb7 70 }
wengefa1 0:c88f41ac2cb7 71 if(distance3 < 0.2f){
wengefa1 0:c88f41ac2cb7 72 led3 = 1;
wengefa1 0:c88f41ac2cb7 73 }else{
wengefa1 0:c88f41ac2cb7 74 led3 = 0;
wengefa1 0:c88f41ac2cb7 75 }
wengefa1 0:c88f41ac2cb7 76 if(distance4 < 0.2f){
wengefa1 0:c88f41ac2cb7 77 led4 = 1;
wengefa1 0:c88f41ac2cb7 78 }else{
wengefa1 0:c88f41ac2cb7 79 led4 = 0;
wengefa1 0:c88f41ac2cb7 80 }
wengefa1 0:c88f41ac2cb7 81 if(distance5 < 0.2f){
wengefa1 0:c88f41ac2cb7 82 led5 = 1;
wengefa1 0:c88f41ac2cb7 83 }else{
wengefa1 0:c88f41ac2cb7 84 led5 = 0;
wengefa1 0:c88f41ac2cb7 85 }
wengefa1 0:c88f41ac2cb7 86 }
wengefa1 0:c88f41ac2cb7 87 }