Lehrer Busch / Mbed OS 150_robot_H_Bridge8835_DIR_PWM_US_Follow

150_robot_H_Bridge8835_DIR_PWM_US_Follow

Dependencies:   HC-SR04

main.cpp@0:68a3b91ee2a4, 2022-02-23 (annotated)

Committer:
itbusch
Date:
Wed Feb 23 18:55:12 2022 +0000
Revision:
0:68a3b91ee2a4
150_robot_H_Bridge8835_DIR_PWM_US_Follow

Who changed what in which revision?

UserRevisionLine numberNew contents of line
itbusch 0:68a3b91ee2a4 1 /* mbed BuschA */
itbusch 0:68a3b91ee2a4 2 #include "mbed.h"
itbusch 0:68a3b91ee2a4 3 #include "HCSR04.h" //US-Sensor Abstand
itbusch 0:68a3b91ee2a4 4 #include "UP_US_Sensor.h"
itbusch 0:68a3b91ee2a4 5
itbusch 0:68a3b91ee2a4 6 lcd mylcd;
itbusch 0:68a3b91ee2a4 7 HCSR04 sonar(D2, D4); //Echo, Trigger Pin
itbusch 0:68a3b91ee2a4 8 DigitalIn CableSwitch(D2); //PullUp auf Board, PA_10
itbusch 0:68a3b91ee2a4 9 PwmOut M1_PWM(D9);
itbusch 0:68a3b91ee2a4 10 DigitalOut M1_DIR(D7);
itbusch 0:68a3b91ee2a4 11
itbusch 0:68a3b91ee2a4 12 int main()
itbusch 0:68a3b91ee2a4 13 {
itbusch 0:68a3b91ee2a4 14 M1_PWM.period_ms(10); // PWM-Periode
itbusch 0:68a3b91ee2a4 15 M1_DIR = 1; // Vorwärts...
itbusch 0:68a3b91ee2a4 16 M1_PWM = 0.8; //Start-Speed
itbusch 0:68a3b91ee2a4 17 float Abstand;
itbusch 0:68a3b91ee2a4 18 while (1)
itbusch 0:68a3b91ee2a4 19 {
itbusch 0:68a3b91ee2a4 20
itbusch 0:68a3b91ee2a4 21 Abstandsmessung(); //Abstand in cm
itbusch 0:68a3b91ee2a4 22
itbusch 0:68a3b91ee2a4 23 switch (Abstand)
itbusch 0:68a3b91ee2a4 24 {
itbusch 0:68a3b91ee2a4 25 case 50: M1_PWM = 0.1; break;
itbusch 0:68a3b91ee2a4 26 case 100: M1_PWM = 0.3; break;
itbusch 0:68a3b91ee2a4 27 case 150: M1_PWM = 0.5; break;
itbusch 0:68a3b91ee2a4 28 case 200: M1_PWM = 0.7; break;
itbusch 0:68a3b91ee2a4 29 case 250: M1_PWM = 0.9; break;
itbusch 0:68a3b91ee2a4 30 case 300: M1_PWM = 1.0; break;
itbusch 0:68a3b91ee2a4 31 }
itbusch 0:68a3b91ee2a4 32
itbusch 0:68a3b91ee2a4 33 }
itbusch 0:68a3b91ee2a4 34 thread_sleep_for(200); //Sleep = Warten...
itbusch 0:68a3b91ee2a4 35 }