Matthias Hemmer
for Bertl2014 HTL-Graz-Göoesting
Revision 2:738a1372c90a, committed 2016-01-18
- Comitter:
- hemmer_matthias
- Date:
- Mon Jan 18 10:36:13 2016 +0000
- Parent:
- 1:18c4a2bc1228
- Commit message:
- K?ck;
Changed in this revision
--- 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
--- a/Steuerung.h Mon Jan 11 12:16:19 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,3 +0,0 @@ - -void bertl_engine (int left, int right, int seconds); // underprogramm -void period_ms(int ms); \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Steuerung_PWM.cpp Mon Jan 18 10:36:13 2016 +0000
@@ -0,0 +1,122 @@
+#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_us(int periode) // underprogramm fot the periode
+{
+ MotorL_EN.period_us(periode); // declaration for the Periode of the left egngine
+ MotorR_EN.period_us(periode); // declaration for the Periode of the right egngine
+}
+
+void bertl_engine(int left, int right)
+{
+ int index_Engine = 0; // agrument for the Switch
+
+ // decleration for left and right engine
+ if (left > 0 && right > 0) // all arguments are positive
+ index_Engine = 1;
+
+ else if (left < 0 && right > 0) // left argument is negative and right is positive
+ index_Engine = 2;
+
+ else if (left > 0 && right < 0) // left argument is positive and right is negative
+ index_Engine = 3;
+
+ else if (left < 0 && right < 0) // left argument is negative and right is negative
+ index_Engine = 4;
+
+ else if (left == 0 && right < 0) // left argument is zero and right is negative
+ index_Engine = 5;
+
+ else if (left == 0 && right > 0) // left argument is zero and right is positive
+ index_Engine = 6;
+
+ else if (left < 0 && right == 0) // left argument is negative and right is is zero
+ index_Engine = 7;
+
+ else if (left > 0 && right == 0) // left argument is positive and right is is zero
+ index_Engine = 8;
+ else // all egines are zero
+ index_Engine = 9;
+
+switch (index_Engine) //begin Switch
+ {
+ case 1:
+ MotorR_EN.pulsewidth_us(right); // to declratate the speed of the right engine (-us - +us)
+ MotorL_EN.pulsewidth_us(left); // to declratate the speed of the left engine (-us - +us)
+ MotorL_REVERSE = 0;
+ MotorR_REVERSE = 0;
+ MotorL_FORWARD = 1;
+ MotorR_FORWARD = 1;
+
+ break;
+
+ case 2:
+ MotorR_EN.pulsewidth_us(right);
+ MotorL_EN.pulsewidth_us(-left);
+ MotorL_FORWARD = 0;
+ MotorR_REVERSE = 0;
+ MotorL_REVERSE = 1;
+ MotorR_FORWARD = 1;
+ break;
+
+ case 3:
+ MotorR_EN.pulsewidth_us(-right);
+ MotorL_EN.pulsewidth_us(left);
+ MotorL_REVERSE = 0;
+ MotorR_FORWARD = 0;
+ MotorL_FORWARD = 1;
+ MotorR_REVERSE = 1;
+ break;
+
+ case 4:
+ MotorR_EN.pulsewidth_us(-right);
+ MotorL_EN.pulsewidth_us(-left);
+ MotorL_FORWARD = 0;
+ MotorR_FORWARD = 0;
+ MotorL_REVERSE = 1;
+ MotorR_REVERSE = 1;
+ break;
+
+ case 5:
+ MotorL_EN = 0;
+ MotorR_EN.pulsewidth_us(-right);
+ MotorR_FORWARD = 0;
+ MotorR_REVERSE = 1;
+ break;
+
+ case 6:
+ MotorL_EN = 0;
+ MotorR_EN.pulsewidth_us(right);
+ MotorR_REVERSE = 0;
+ MotorR_FORWARD = 1;
+ break;
+
+ case 7:
+ MotorR_EN = 0;
+ MotorL_EN.pulsewidth_us(-left);
+ MotorL_FORWARD = 0;
+ MotorL_REVERSE = 1;
+ break;
+
+ case 8:
+ MotorR_EN = 0;
+ MotorL_EN.pulsewidth_us(left);
+ 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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Steuerung_PWM.h Mon Jan 18 10:36:13 2016 +0000 @@ -0,0 +1,3 @@ + +void bertl_engine (int left, int right); // underprogramm for the engines +void period_us(int periode); // underprogramm for the periode \ No newline at end of file