Martin Werluschnig
MicroMouse
Revision 0:5206be262f16, committed 2018-11-15
- Comitter:
- martwerl
- Date:
- Thu Nov 15 18:05:16 2018 +0000
- Commit message:
- MicroMouse
Changed in this revision
diff -r 000000000000 -r 5206be262f16 BertlLib.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BertlLib.lib Thu Nov 15 18:05:16 2018 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/hollegha2/code/BertlLib/#20c3213c3ada
diff -r 000000000000 -r 5206be262f16 main.cpp
--- /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
+}
diff -r 000000000000 -r 5206be262f16 mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Thu Nov 15 18:05:16 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187 \ No newline at end of file