michael hollegha / Mbed 2 deprecated BertlCard

BertlCard

Dependencies:   BertlLib mbed

BertlCard.cpp@0:46edd470c018, 2015-10-14 (annotated)

Committer:
hollegha2
Date:
Wed Oct 14 14:39:03 2015 +0000
Revision:
0:46edd470c018
Child:
1:69daffc2b325
V1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hollegha2 0:46edd470c018 1
hollegha2 0:46edd470c018 2 #include "mbed.h"
hollegha2 0:46edd470c018 3 #include "Serial_HL.h"
hollegha2 0:46edd470c018 4 #include "Bertl14.h"
hollegha2 0:46edd470c018 5 #include "BertlObjects.h"
hollegha2 0:46edd470c018 6
hollegha2 0:46edd470c018 7 SerialBLK pc(USBTX, USBRX);
hollegha2 0:46edd470c018 8 // SerialBLK pc(p9, p10); // BlueTooth
hollegha2 0:46edd470c018 9 SvProtocol ua0(&pc);
hollegha2 0:46edd470c018 10
hollegha2 0:46edd470c018 11 // main=2^0 LS ENC 2^2
hollegha2 0:46edd470c018 12 BusOut boardPow(p30, P1_6, P1_7);
hollegha2 0:46edd470c018 13
hollegha2 0:46edd470c018 14 void CommandHandler();
hollegha2 0:46edd470c018 15
hollegha2 0:46edd470c018 16 float gForw=0.0, gTurn=0.0;
hollegha2 0:46edd470c018 17
hollegha2 0:46edd470c018 18 int main(void)
hollegha2 0:46edd470c018 19 {
hollegha2 0:46edd470c018 20 InitBertl();
hollegha2 0:46edd470c018 21 pex.useISR=0;
hollegha2 0:46edd470c018 22 leds=0;
hollegha2 0:46edd470c018 23 pex.ClearLeds();
hollegha2 0:46edd470c018 24 // pex.SetLedPort(LED_FL1|LED_FR1);
hollegha2 0:46edd470c018 25 pex.SetLedPort(LED_BR2|LED_BL1);
hollegha2 0:46edd470c018 26 pc.format(8,SerialBLK::None,1);
hollegha2 0:46edd470c018 27 pc.baud(115200); // 115200
hollegha2 0:46edd470c018 28 boardPow = 1;
hollegha2 0:46edd470c018 29 ua0.SvMessage("BertlKart_5"); // Meldung zum PC senden
hollegha2 0:46edd470c018 30
hollegha2 0:46edd470c018 31 Timer stw;
hollegha2 0:46edd470c018 32 stw.start();
hollegha2 0:46edd470c018 33 while(1) {
hollegha2 0:46edd470c018 34 CommandHandler();
hollegha2 0:46edd470c018 35 if( (stw.read_ms()>10) ) { // 100Hz
hollegha2 0:46edd470c018 36 // dieser Teil wird mit 100Hz aufgerufen
hollegha2 0:46edd470c018 37 stw.reset();
hollegha2 0:46edd470c018 38 if( ua0.acqON ) {
hollegha2 0:46edd470c018 39 // nur wenn vom PC aus das Senden eingeschaltet wurde
hollegha2 0:46edd470c018 40 // wird auch etwas gesendet
hollegha2 0:46edd470c018 41 ua0.WriteSvI16(1, gForw*100);
hollegha2 0:46edd470c018 42 ua0.WriteSvI16(2, gTurn*100);
hollegha2 0:46edd470c018 43 }
hollegha2 0:46edd470c018 44 }
hollegha2 0:46edd470c018 45 }
hollegha2 0:46edd470c018 46 return 1;
hollegha2 0:46edd470c018 47 }
hollegha2 0:46edd470c018 48
hollegha2 0:46edd470c018 49 void CommandHandler()
hollegha2 0:46edd470c018 50 {
hollegha2 0:46edd470c018 51 uint8_t cmd;
hollegha2 0:46edd470c018 52 // Fragen ob überhaupt etwas im RX-Reg steht
hollegha2 0:46edd470c018 53 if( !pc.IsDataAvail() )
hollegha2 0:46edd470c018 54 return;
hollegha2 0:46edd470c018 55 // wenn etwas im RX-Reg steht
hollegha2 0:46edd470c018 56 // Kommando lesen
hollegha2 0:46edd470c018 57 cmd = ua0.GetCommand();
hollegha2 0:46edd470c018 58
hollegha2 0:46edd470c018 59 if( cmd==2 ) {
hollegha2 0:46edd470c018 60 if( ua0.ReadI16() )
hollegha2 0:46edd470c018 61 pex.SetLedPort(LED_FL1|LED_FR1);
hollegha2 0:46edd470c018 62 else
hollegha2 0:46edd470c018 63 pex.ClearLeds();
hollegha2 0:46edd470c018 64 }
hollegha2 0:46edd470c018 65 if( cmd==4 ) {
hollegha2 0:46edd470c018 66 mL.SetPow(ua0.ReadF());
hollegha2 0:46edd470c018 67 mR.SetPow(ua0.ReadF());
hollegha2 0:46edd470c018 68 }
hollegha2 0:46edd470c018 69 if( cmd==5 ) {
hollegha2 0:46edd470c018 70 gForw = ua0.ReadF();
hollegha2 0:46edd470c018 71 // gForw = -ua0.ReadF(); // Wetz
hollegha2 0:46edd470c018 72 mL.SetPow(gForw+gTurn);
hollegha2 0:46edd470c018 73 mR.SetPow(gForw-gTurn);
hollegha2 0:46edd470c018 74 } else if( cmd==6 ) {
hollegha2 0:46edd470c018 75 gTurn = ua0.ReadF();
hollegha2 0:46edd470c018 76 // gTurn = -ua0.ReadF(); // Wetz
hollegha2 0:46edd470c018 77 mL.SetPow(gForw+gTurn);
hollegha2 0:46edd470c018 78 mR.SetPow(gForw-gTurn);
hollegha2 0:46edd470c018 79 }
hollegha2 0:46edd470c018 80 }
hollegha2 0:46edd470c018 81
hollegha2 0:46edd470c018 82
hollegha2 0:46edd470c018 83