Diff: Steuerung.cpp

Revision:

2:738a1372c90a

Parent:

1:18c4a2bc1228

--- a/Steuerung.cpp	Mon Jan 11 12:16:19 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,123 +0,0 @@
-#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 period_ms(int ms) 
-{
-    MotorL_EN.period_ms(ms);
-    MotorR_EN.period_ms(ms);
-}
-
-void bertl_engine(int left, int right, int seconds)
-{          
-    
-   /* int index_Engine = 0;
-                
-    // decleration for left and right engine
-         if (left > 0 && right > 0)  
-            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.pulsewidth_ms(seconds); 
-            MotorL_EN.pulsewidth_ms(seconds);
-            MotorL_REVERSE = 0;
-            MotorR_REVERSE = 0;
-            MotorL_FORWARD = 1;
-            MotorR_FORWARD = 1;    
-       
-        break;
-            
-        case 2:
-            MotorR_EN = 1;
-            MotorL_EN = 1;
-            MotorL_FORWARD = 0;
-            MotorR_REVERSE = 0;
-            MotorL_REVERSE = 1;
-            MotorR_FORWARD = 1;           
-        break;
-
-        case 3:
-            MotorR_EN = 1;
-            MotorL_EN = 1;
-            MotorL_REVERSE = 0;
-            MotorR_FORWARD = 0;
-            MotorL_FORWARD = 1;
-            MotorR_REVERSE = 1;            
-        break;
-            
-        case 4:
-            MotorR_EN = 1;
-            MotorL_EN = 1;
-            MotorL_FORWARD = 0;
-            MotorR_FORWARD = 0;
-            MotorL_REVERSE = 1;
-            MotorR_REVERSE = 1;       
-        break;  
-            
-        case 5:
-            MotorL_EN = 0;
-            MotorR_EN = 1;
-            MotorR_FORWARD = 0;
-            MotorR_REVERSE = 1;
-        break;  
-        
-        case 6:
-            MotorL_EN = 0;
-            MotorR_EN = 1;
-            MotorR_REVERSE = 0;
-            MotorR_FORWARD = 1;
-        break; 
-    
-         case 7:
-            MotorR_EN = 0;
-            MotorL_EN = 1;
-            MotorL_FORWARD = 0;
-            MotorL_REVERSE = 1;          
-        break;    
- 
-         case 8:
-            MotorR_EN = 0;
-            MotorL_EN = 1;
-            MotorL_REVERSE = 0;
-            MotorL_FORWARD = 1;                    
-         break;    
-         
-        case 9:
-            MotorR_EN = 0;
-            MotorL_EN = 0;
-         break;
-    }//end Switch */
-}//end bertl_engine 
\ No newline at end of file