Diff: BertlTemplate_Linienfahren.cpp

Revision:

5:b1a4eed391a6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BertlTemplate_Linienfahren.cpp	Thu Nov 15 17:50:41 2018 +0000
@@ -0,0 +1,66 @@
+
+#include "mbed.h"
+#include "Serial_HL.h"
+#include "Bertl14.h"
+#include "BertlObjects.h"
+
+//              main=2^0  LS    ENC 2^2
+BusOut boardPow(p30,      P1_6, P1_7);
+
+// ls5 nur beim Betrl15
+// AnalogInHL ls1(p18), ls2(p16), ls3(p19), ls4(p17); // B14
+
+AnalogInHL ls1(p18), ls2(p16), ls3(p20), ls4(p19), ls5(p17); // B15
+
+int main(void)
+{
+    boardPow=3; wait_ms(10);
+    InitBertl();
+    pex.useISR=0; leds=9;
+    pex.ClearLeds();
+    
+    bool rechts = 0;//flag, welche kurve zuletzt dran war
+    bool links = 0;
+     
+    while(1)
+    {
+        wait_ms(10);
+        
+       if(ls1.Read()>600)
+        {
+                    mL.SetPow(0.3); mR.SetPow(0.1);//rechtskrve 
+                    rechts = 1; 
+        }
+        else if(ls4.Read()>600)
+        {
+                    mL.SetPow(0.1); mR.SetPow(0.3);//linkskurve  
+                    links = 1; 
+        }
+        else if(ls1.Read()<200 && ls4.Read()<200 && ls2.Read()>200 && ls3.Read()>200)
+        {
+                    mL.SetPow(0.3); mR.SetPow(0.3);//geradeaus  
+                    rechts = 0;
+                    links = 0; 
+        }        
+        else if(ls1.Read()<200 && ls4.Read()<200 && ls2.Read()<200 && ls3.Read()<200  && ls5.Read()<200)//wenn alle unter 200, je nachdem was die letzte kurve war --> andere richtung
+        {
+                    if(links == 1)
+                    {
+                        mL.SetPow(0.1); mR.SetPow(0.3);//linkskurve  
+                        rechts = 0;//zurücksetzen
+                    }
+                    else if (rechts == 1)
+                    {
+                        mL.SetPow(0.3); mR.SetPow(0.1);//rechtskurve  
+                        links = 0;
+                    }
+                    else
+                    {
+                        mL.SetPow(0.3); mR.SetPow(0.3);//geradeaus 
+                    }   
+        }       
+    } 
+    return 1;
+}
+
+