Diff: B17_PingPong2.cpp

Revision:

0:e86913f987fa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/B17_PingPong2.cpp	Mon Oct 09 08:00:53 2017 +0000
@@ -0,0 +1,111 @@
+
+#include "mbed.h"
+#include "Bertl16.h"
+
+void ForewardUntilWall();
+
+void BackwardUntilWall();
+
+int MultiCheckBtn(DigitalIn& aBtn);
+
+void FwBlinker();
+void BwBlinker();
+
+Timer t1;
+
+int main(void)
+{
+  boardPow=1;
+  AllLedsOff();
+  t1.start();
+  
+  while( !MultiCheckBtn(BtnFM) ) 
+	{
+	}
+
+  while(1)
+  {
+    // BtnTest();
+    ForewardUntilWall();
+    BackwardUntilWall();
+  }
+  
+  return 1;
+}
+
+
+void ForewardUntilWall()
+{
+  LedFL1 = LedFR1 = 0;
+  mL.SetPow(0.3); mR.SetPow(0.3);
+  while( 1 )
+  {
+    if( MultiCheckBtn(BtnFM) || MultiCheckBtn(BtnFL) || MultiCheckBtn(BtnFR) )
+      break;
+    FwBlinker();
+  }
+  mL.SetPow(0.0); mR.SetPow(0.0);
+  LedFL1 = LedFR1 = 1;
+}
+
+void FwBlinker()
+{
+  if( t1.read_ms()<100 )
+    return;
+  t1.reset();
+  LedFL1 = !LedFL1;
+  LedFR1 = !LedFR1;
+}
+
+void BackwardUntilWall()
+{
+  LedBL1 = LedBR1 = 0;
+  mL.SetPow(-0.3); mR.SetPow(-0.3);
+  while( 1 )
+  {
+    if( MultiCheckBtn(BtnBL) || MultiCheckBtn(BtnBM) || MultiCheckBtn(BtnBR) )
+      break;
+    BwBlinker();
+  }
+  mL.SetPow(0.0); mR.SetPow(0.0);
+  LedBL1 = LedBR1 = 1;
+}
+
+void BwBlinker()
+{
+  if( t1.read_ms()<100 )
+    return;
+  t1.reset();
+  LedBL1 = !LedBL1;
+  LedBR1 = !LedBR1;
+}
+
+
+int MultiCheckBtn(DigitalIn& aBtn)
+{
+	int cnt=0;
+	for(int i=1; i<=10; i++)
+	{
+		if( aBtn.read()==0 )
+			cnt++;
+	}
+	if( cnt>=10 )
+		return 1;
+	return 0;
+}
+
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