Martin Werluschnig
/
BertlTemplate2_Linienfahren
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Revision 5:b1a4eed391a6, committed 2018-11-15
- Comitter:
- martwerl
- Date:
- Thu Nov 15 17:50:41 2018 +0000
- Parent:
- 4:4b71af20b3b7
- Commit message:
- BertlTemplate2_Linienfahren
Changed in this revision
| BertlTemplate.cpp | Show diff for this revision Revisions of this file |
| BertlTemplate_Linienfahren.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/BertlTemplate.cpp Tue May 24 11:44:20 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,30 +0,0 @@
-
-#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=1; wait_ms(10);
- InitBertl();
- pex.useISR=0; leds=9;
- pex.ClearLeds();
-
- while(1)
- {
- mL.SetPow(0.2); mR.SetPow(0.2);
- }
-
- return 1;
-}
-
-
--- /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;
+}
+
+