150_robot_H_Bridge8835_DIR_PWM_US_Follow
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main.cpp
00001 /* mbed BuschA */ 00002 #include "mbed.h" 00003 #include "HCSR04.h" //US-Sensor Abstand 00004 #include "UP_US_Sensor.h" 00005 00006 lcd mylcd; 00007 HCSR04 sonar(D2, D4); //Echo, Trigger Pin 00008 DigitalIn CableSwitch(D2); //PullUp auf Board, PA_10 00009 PwmOut M1_PWM(D9); 00010 DigitalOut M1_DIR(D7); 00011 00012 int main() 00013 { 00014 M1_PWM.period_ms(10); // PWM-Periode 00015 M1_DIR = 1; // Vorwärts... 00016 M1_PWM = 0.8; //Start-Speed 00017 float Abstand; 00018 while (1) 00019 { 00020 00021 Abstandsmessung(); //Abstand in cm 00022 00023 switch (Abstand) 00024 { 00025 case 50: M1_PWM = 0.1; break; 00026 case 100: M1_PWM = 0.3; break; 00027 case 150: M1_PWM = 0.5; break; 00028 case 200: M1_PWM = 0.7; break; 00029 case 250: M1_PWM = 0.9; break; 00030 case 300: M1_PWM = 1.0; break; 00031 } 00032 00033 } 00034 thread_sleep_for(200); //Sleep = Warten... 00035 }
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