150_robot_H_Bridge8835_DIR_PWM_US_Follow

Dependencies:   HC-SR04

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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 }