Diff: main.cpp

Revision:

15:1ebd2ee7b1c8

Parent:

14:cfe1311a63f0

Child:

16:5d4a58eecf55

--- a/main.cpp	Sun May 09 15:02:06 2021 +0000
+++ b/main.cpp	Thu May 13 16:28:04 2021 +0000
@@ -8,7 +8,7 @@
 #include "PositionController.h"
 #include "FastPWM.h"
 #include "RangeFinder.h"
-
+/*Defines initialisieren*/
 #define AUFLOESUNG 0.25412f
 #define FUELSENSOR 1
 #define BATTERIE 2
@@ -22,10 +22,16 @@
 
 InterruptIn user_button(USER_BUTTON);
 InterruptIn sensor(PA_1);
-
+/*Initialisierung outputs*/
+DigitalOut  led(LED1);
+AnalogOut BatteryLED (PA_5);
+AnalogOut WeightLED (PA_4);
+/*Initialisierung inputs*/
+AnalogIn adc_vbat(ADC_VBAT);
+AnalogIn analogIn_2(PA_0);
+DigitalIn digitalIn(D5);
 //AnalogIn analogIn_1(PA_1);
 
-DigitalOut  led(LED1);
 
 bool  executeMainTask = false;
 Timer user_button_timer, loop_timer;
@@ -37,15 +43,18 @@
 void sensor_fall();
 void led_blinken(int fehler);
 /* create analog input object */
-AnalogIn adc_vbat(ADC_VBAT);
-DigitalIn digitalIn(D5);
+
 
-AnalogIn analogIn_2(PA_0);
-
+/*Variabeln initialisieren*/
 float    movement = 0.0f;
 float    batt = 0.0f;
 float    weight = 0.0f;
 float    rotation = 0.0f;
+int situation = FUELSENSOR;
+int Fehler = 0;
+int sensor_trig = 0;
+int timer_1 = 0;
+/*Initialisierung motor ¦ entnommen aus PM2_example_PES_board*/
 /* create enable dc motor digital out object */
 DigitalOut enable_motors(PB_15);
 /* create pwm objects */
@@ -64,13 +73,9 @@
 PositionController positioncontroller_M2(counts_per_turn, kn, max_voltage, pwmOut_M2, encoderCounter_M2);
 
 /* analog output */
-AnalogOut BatteryLED (PA_5);
-AnalogOut WeightLED (PA_4);
-int situation = FUELSENSOR;
-int Fehler = 0;
-int sensor_trig = 0;
-int timer_1 = 0;
+
 
+/*Hauptprogramm*/
 int main()
 {
 
@@ -89,79 +94,79 @@
 
         batt = adc_vbat.read()* (3.3f/AUFLOESUNG);
         loop_timer.reset();
-
+       weight = analogIn_2.read() * 5;
         /* ------------- start hacking ------------- -------------*/
-        weight = analogIn_2.read() * 5;
+ 
         movement = 0;
-//roundf(analogIn_1.read()*1.2);
         rotation = positioncontroller_M2.getRotation();
         switch (situation) {
             case FUELSENSOR:
 
-                if(weight < 4) {
-                    WeightLED = 1;
-                    situation = BATTERIE;
-                    if (weight < 3.5) {
-                        Fehler = F_FUELSENSOR;
-                        situation = SPERREN;
+                if(weight < 4) {//Ist Der Füllstand Unter 25%?
+                    WeightLED = 1;//Anzeige LED
+                    situation = BATTERIE;//Weiter zu Batteriestand
+                    if (weight < 3.5) {//Ist der Füllstand unter 10%
+                        Fehler = F_FUELSENSOR;//Weitergabe Feler
+                        situation = SPERREN;//Gerät sperren
 
                     }
                 } else {
-                    WeightLED = 0;
-                    situation = BATTERIE;
+                    WeightLED = 0;//LED AUS
+                    situation = BATTERIE;//Weiter zu Batteriestand
                 }
 
                 break;
-            case BATTERIE:
-                if(batt <3.2) {
-                    BatteryLED = 1;
-                    situation = SENSOR;
-                    if(batt < 3) {
-                        //fehler = F_BATTERIE;
-                        //situation = FEHLER;
+            case BATTERIE:          //Der Batteriestand
+                if(batt <3.2) {     //Ist der Batteriesand Unter 25%
+                    BatteryLED = 1;//Anzeige LED
+                    situation = SENSOR;//Weiter zu Sensor
+                    if(batt < 3) {//Ist der Batteriestand unter 10%
+                        fehler = F_BATTERIE;//Weitergabe Fehler
+                        situation = FEHLER;//Gerät sperren
                     }
                 } else {
-                    BatteryLED = 0;
-                    situation = SENSOR;
+                    BatteryLED = 0;//LED AUS
+                    situation = SENSOR;//Weiter zu Sensor
                 }
                 break;
-            case SENSOR:
-                if (sensor_trig == 1) {
-                    situation = MOTOR;
-                     sensor_trig = 0;
+            case SENSOR:                //Sensor
+                if (sensor_trig == 1) {//Wurde der Bewegungsensor Betätigt
+                    situation = MOTOR;//Weiter zu Motor
+                    sensor_trig = 0;
                 } else {
-                    situation = FUELSENSOR;
+                    situation = FUELSENSOR;//Weiter zu Füllsensor
                 }
                 break;
-            case MOTOR:
-                if(timer_1 > 200) {
-                    enable_motors = 1;
+            case MOTOR:                 //Motor
+                if(timer_1 > 200) {     //Ist genug zeit vergangen das jemand seine Hand wegnemmen konte(hier 2 sek)
+                    enable_motors = 1;  //motor ein
                     positioncontroller_M2.setDesiredRotation(1.0f);
-                    if (timer_1 ==500) {
+                    if (timer_1 ==500) {//Hat der motor lange genug gedreht?
                         positioncontroller_M2.setDesiredRotation(0.0f);
-                        enable_motors = 0;
+                        enable_motors = 0;//Motor aus
                         timer_1 = 0;
-                        situation = FUELSENSOR;
+                        situation = FUELSENSOR;//weiter zu Füllsensor
                     } else {
-                        timer_1 ++;
+                        timer_1 ++;     //warten
                     }
 
                 } else {
-                    timer_1 ++;
+                    timer_1 ++;             //warten
                 }
                 break;
+            /*Gerät Sperren*/
             case SPERREN:
-                if (Fehler == F_FUELSENSOR) {
-                    led_blinken(F_FUELSENSOR);
-                    if(weight > 4.2) {
-                        WeightLED = 0;
-                        situation = BATTERIE;
+                if (Fehler == F_FUELSENSOR) { //Liegt der Fehler beim Füllsensor?
+                    led_blinken(F_FUELSENSOR);//Anzeige LED Blinken
+                    if(weight > 4.2) {         //Liegt der Füllstand über 30%
+                        WeightLED = 0;         //LED aus
+                        situation = BATTERIE;   //Weiter Batteriestand
                     }
                 } else {
-                    led_blinken(F_BATTERIE);
+                    led_blinken(F_BATTERIE);//Anzeige LED Blinken
                     if(batt >3.2) {
-                        BatteryLED = 0;
-                        situation = SENSOR;
+                        BatteryLED = 0;     //LED aus
+                        situation = SENSOR;//Weiter zu Sensor
                     }
                 }
                 break;
@@ -177,8 +182,7 @@
                movement,
                weight,
                batt,
-               timer_1,
-               motor);
+               timer_1);
 
         /* ------------- stop hacking ------------- -------------*/
 
@@ -198,8 +202,8 @@
 
 void sensor_fall()
 {
-    if (situation == SENSOR) {
-        motor = 1;
+    if (situation != MOTOR && situation != SPERREN) {
+        sensor_trig = 1;
     }