Diff: main.cpp

Revision:

0:5206be262f16

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Nov 15 18:05:16 2018 +0000
@@ -0,0 +1,142 @@
+
+#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
+
+//Funktionen
+void ForewardUntilXing();
+void NinetyDegreesLeft();
+void CorrectToRight();
+void CorrectToLeft();
+bool CheckLeftSensor();
+bool CheckLeftFrontSensor();
+bool CheckRightSensor();
+bool CheckRightFrontSensor();
+
+//globale Variablen
+int SensorLeft = 0;
+int SensorFrontLeft = 0;
+int SensorRight = 0;
+int SensorFrontRight = 0;
+
+
+int main(void)
+{
+    boardPow=3; wait_ms(10);
+    InitBertl();
+    pex.useISR=0; leds=9;
+    pex.ClearLeds();
+    
+     
+    while(1)
+    {
+        ForewardUntilXing();
+        NinetyDegreesLeft();
+    } 
+}
+
+
+void ForewardUntilXing()
+{
+    while (CheckLeftFrontSensor() != 1 && CheckLeftSensor() != 1)
+    {
+        mL.SetPow(0.3); mR.SetPow(0.3);//geradeaus
+        if(/*SensorLeft (zu weit Links)*/)
+        {
+            CorrectToRight();
+        }
+        else if(/*SensorRight (zu weit Rechts)*/)
+        {
+            CorrectToLeft();
+        }
+    }
+}
+
+
+void NinetyDegreesLeft()
+{
+    for (int i = 0; i <= 10; i++)
+    {
+        mL.SetPow(0.3); mR.SetPow(0.1);//Linkskurve 
+        wait_ms(100);
+    }
+
+}
+
+
+bool CheckLeftSensor()
+{
+    if (SensorLeft > 0)
+    {
+        return 1;
+    }
+    else
+    {
+        return 0;
+    }
+}
+
+
+
+bool CheckLeftFrontSensor()
+{
+    if (SensorFrontLeft > 0)
+    {
+        return 1;
+    }
+    else
+    {
+        return 0;
+    }
+}
+
+
+bool CheckRightSensor()
+{
+    if (SensorRight > 0)
+    {
+        return 1;
+    }
+    else
+    {
+        return 0;
+    }
+}
+
+
+bool CheckRightFrontSensor()
+{
+    if (SensorFrontRight > 0)
+    {
+        return 1;
+    }
+    else
+    {
+        return 0;
+    }
+}
+
+
+void CorrectToLeft()
+{
+        mL.SetPow(0.3); mR.SetPow(0.1);//nach links 
+        wait_ms(100);
+        mL.SetPow(0.3); mR.SetPow(0.3);//wieder geradeaus 
+}
+
+
+void CorrectToRight()
+{
+        mL.SetPow(0.1); mR.SetPow(0.3);//nach rechts
+        wait_ms(100);
+        mL.SetPow(0.3); mR.SetPow(0.3);//wieder geradeaus 
+}