Diff: Steuerung.cpp

Revision:

0:50c6cfc49ead

Child:

1:18c4a2bc1228

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Steuerung.cpp	Tue Dec 29 11:16:51 2015 +0000
@@ -0,0 +1,105 @@
+#include "mbed.h"
+
+// decleration for left engine
+PwmOut MotorL_EN(P1_15);    
+DigitalOut MotorL_FORWARD(P1_1);   
+DigitalOut MotorL_REVERSE(P1_0); 
+  
+// decleration for right engine
+PwmOut MotorR_EN(P0_21);     
+DigitalOut MotorR_FORWARD(P1_3); 
+DigitalOut MotorR_REVERSE(P1_4);
+
+void bertl_engine (int left, int right)
+{    
+    MotorL_EN = MotorR_EN = 1;      
+    
+    int index_Engine = 0;
+    
+         if (left > 0 && right > 0)  // decleration for left and right engine
+            index_Engine = 1;
+        
+        else if (left < 0 && right > 0)
+            index_Engine = 2;
+    
+        else if (left > 0 && right < 0)
+            index_Engine = 3;
+        
+        else if (left < 0 && right < 0)
+            index_Engine = 4;
+    
+        else if (left == 0 && right < 0)
+            index_Engine = 5;
+     
+        else if (left == 0 && right > 0)
+             index_Engine = 6;    
+        
+        else if (left < 0 && right == 0)
+             index_Engine = 7;
+    
+        else if (left > 0 && right == 0)
+             index_Engine = 8;
+        else
+            index_Engine = 9;    
+             
+switch (index_Engine)  //begin Switch
+   { 
+        case 1:
+            MotorR_EN = 1;
+            MotorL_EN = 1;
+            MotorL_FORWARD = 1;
+            MotorR_FORWARD = 1;           
+       
+        break;
+            
+        case 2:
+            MotorR_EN = 1;
+            MotorL_EN = 1;
+            MotorL_REVERSE = 1;
+            MotorR_FORWARD = 1;           
+        break;
+
+        case 3:
+            MotorR_EN = 1;
+            MotorL_EN = 1;
+            MotorL_FORWARD = 1;
+            MotorR_REVERSE = 1;            
+        break;
+            
+        case 4:
+            MotorR_EN = 1;
+            MotorL_EN = 1;
+            MotorL_REVERSE = 1;
+            MotorR_REVERSE = 1;       
+        break;  
+            
+        case 5:
+            MotorL_EN = 0;
+            MotorR_EN = 1;
+            MotorR_REVERSE = 1;
+        break;  
+        
+        case 6:
+            MotorL_EN = 0;
+            MotorR_EN = 1;
+            MotorR_FORWARD = 1;
+        break; 
+    
+         case 7:
+            MotorR_EN = 0;
+            MotorR_EN = 1;
+            MotorL_REVERSE = 1;          
+        break;    
+ 
+         case 8:
+            MotorR_EN = 0;
+            MotorL_EN = 1;
+            MotorL_FORWARD = 1;                    
+         break;    
+         
+        case 9:
+            MotorR_EN = 0;
+            MotorL_EN = 0;
+         break;
+    }//end Switch 
+}//end bertl_engine
\ No newline at end of file