File content as of revision 6:5d2d394eb087:

#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);
AnalogInHL ls1(p18), ls2(p16), ls3(p20), ls4(p19), ls5(p17); // B15

// Alle Funktionen die den Bertl bewegen werden mit
// ausgeschalteten Motoren betreten und mit ausgeschalteten Motoren
// wieder verlassen ls1 rechts, ls4 links
 int rechts = 0, links = 0, linesens = 0;
 Timer t1;
 
void ForewardUntilWall();

void SomeStepsBack();

void TurnLeft();

void TurnRight();

void FrontBlinkerTask();

void BackBlinkerTask();

void BlinkTask();

// Line==left ret 1   Line==right ret 2
int CheckLineSensors();

int main(void)
{
    boardPow=1; wait_ms(10);
    InitBertl(); leds=9;
    pex.ClearLeds();
    pex.WaitUntilButtonPressed();

 //   int dir;
    while(1)
    {
        ForewardUntilWall();
        wait_ms(1000); // for debugging
        SomeStepsBack();
        wait_ms(1000); // for debugging
        if( linesens == 1 )
        {
            rechts = 1;
            TurnLeft();
        }
        else if (linesens == 4)
        {
          links = 1;
          TurnRight();
        }
        wait_ms(200); // for debugging
    }
    
    return 1;
}

void ForewardUntilWall()
{
  mL.SetPow(0.2); mR.SetPow(0.2);// Motoren einschalten (geradeaus)
  while(1)
  {
    FrontBlinkerTask();
    linesens = CheckLineSensors();
    // für Aufgabe 3 CheckButtons()
    // if( Button_pressed or LinSensor )
    //    break;
    if (linesens != 0 )//|| pex.IsButton(BTN_FLL) || pex.IsButton(BTN_FL) || pex.IsButton(BTN_FM) || pex.IsButton(BTN_FR) || pex.IsButton(BTN_FRR))//Linie erkannt oder Front-Button gedrückt
    {
            break;
    }
  }
  mL.SetPow(0.0); mR.SetPow(0.0);// Motoren ausschalten
  pex.ClearLeds();//LEDs ausschalten
}

void SomeStepsBack()
{  
    mL.SetPow(-0.2); mR.SetPow(-0.2);// Motoren einschalten (rückwärts)
    BackBlinkerTask();
    wait_ms(1000);
    mL.SetPow(0.0); mR.SetPow(0.0);// Motoren ausschalten
    pex.ClearLeds();//LEDs ausschalten
    if (rechts == 1)
    {
        TurnLeft();
        rechts = 0;
    }
    else if (links == 1)
    {
        TurnRight();
        links = 0;
    }
}

void TurnLeft()
{
        mL.SetPow(0.1); mR.SetPow(0.2);// Motor einschalten Linkskurve
        BlinkTask();
        wait_ms(800);
        mL.SetPow(0.0); mR.SetPow(0.0);// Motor ausschalten
        pex.ClearLeds();
}

void TurnRight()
{
        mL.SetPow(0.2); mR.SetPow(0.1);// Motor einschalten Rechtskurve
        BlinkTask();
        wait_ms(800);
        mL.SetPow(0.0); mR.SetPow(0.0);// Motor ausschalten
        pex.ClearLeds();

}

void FrontBlinkerTask()
{
    pex.SetLeds(LED_FL1);
    pex.SetLeds(LED_FL2);
    pex.SetLeds(LED_FR1);
    pex.SetLeds(LED_FR2);
}

void BackBlinkerTask()
{
    pex.SetLeds(LED_BL1);
    pex.SetLeds(LED_BL2);
    pex.SetLeds(LED_BR1);
    pex.SetLeds(LED_BR2);
}

int CheckLineSensors()
{
        if (ls1.Read()>600)//linesensor rechts meldet dunkel
    {
        return 1;//rechts
    }
    else if (ls4.Read()>600)//linesensor links meldet dunkel
    {
       return 4;//links
    }
    else
        return 0;
}

void BlinkTask()
{                   //TIMER
    if (t1.read_ms()>100) // alle 100ms = 10Hz
    { 
        t1.reset(); // timer neu starten
        if (links == 1)
        {
            pex.ToggleLeds(LED_BL1 | LED_BL2);
            pex.ToggleLeds(LED_FL1 | LED_FL2);
        }
        else if (rechts == 1)
        {
            pex.ToggleLeds(LED_BR1 | LED_BR2);
            pex.ToggleLeds(LED_FR1 | LED_FR2);
        }
    }
}