Martin Werluschnig
/
Rasenmaeher_Angabe
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Revision 5:952090ddc8eb, committed 2018-06-12
- Comitter:
- hollegha2
- Date:
- Tue Jun 12 11:19:48 2018 +0000
- Parent:
- 4:4b71af20b3b7
- Child:
- 6:5d2d394eb087
- Commit message:
- xx3
Changed in this revision
| BertlTemplate.cpp | Show diff for this revision Revisions of this file |
| RasenMaeher.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/RasenMaeher.cpp Tue Jun 12 11:19:48 2018 +0000
@@ -0,0 +1,90 @@
+
+#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
+
+void ForewardUntilWall();
+
+void SomeStepsBack();
+
+void TurnLeft();
+
+void TurnRight();
+
+void FrontBlinkerTask();
+
+void BackBlinkerTask();
+
+// Line==left ret 1 Line==right ret 2
+int CheckLineSensors();
+
+int main(void)
+{
+ boardPow=3; wait_ms(10);
+ InitBertl(); leds=9;
+ pex.ClearLeds();
+
+ int dir;
+ while(1)
+ {
+ ForewardUntilWall();
+ dir = CheckLineSensors();
+ wait_ms(200); // for debugging
+ SomeStepsBack();
+ wait_ms(200); // for debugging
+ if( dir==1 )
+ TurnLeft();
+ else
+ TurnRight();
+ wait_ms(200); // for debugging
+ }
+
+ return 1;
+}
+
+void ForewardUntilWall()
+{
+ // Motorten einschalten
+ while(1)
+ {
+ FrontBlinkerTask();
+ // CheckLineSensors();
+ // für Aufgabe 3 CheckButtons()
+ // if( Button_pressed or LinSensor )
+ // break;
+ }
+ // Motoren ausschalten
+}
+
+void SomeStepsBack()
+{
+ // Motoren auf rückwärts
+ // wait_ms(100);
+ // Motoren ausschalten
+}
+
+void TurnLeft()
+{
+}
+
+void TurnRight()
+{
+}
+
+void FrontBlinkerTask()
+{
+}
+
+void BackBlinkerTask()
+{
+}
+