Matti Borchers / Mbed 2 deprecated mbed_amf_controlsystem_iO_copy

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Dependencies:   mbed-rtos mbed

Fork of mbed_amf_controlsystem_iO_copy by Oliver Wenzel

Modus/Parking.cpp

Committer:
mborchers
Date:
2016-02-08
Revision:
17:76636aaf80de

File content as of revision 17:76636aaf80de:

#include "Modus/Parking.h"

int Parking::lightimpulseCounter;

void Parking::increaseLightimpulseCounter(){                     
    lightimpulseCounter++;
}

int Parking::getDistance(void){                                  
    int distance = lightimpulseCounter * 4;
    lightimpulseCounter = 0;
    return distance;
}

void Parking::parking_thread(void const *args) {
    float size_parking_space;
    
    if(Parking::redlight == 1){
        while(true){
            do{
            }while(Parking::redlight == 1);
                Parking::getDistance();
            do{
            }while(Parking::redlight == 0);
            
            size_parking_space = Parking::getDistance();
            //serialMinnow.printf("Parklücke[mm]: %f\r\n", size_parking_space);
                
            if(size_parking_space < 600 && size_parking_space > 500){
                    
                drivePWM.pulsewidth_us(1700);   //Stück nach vorne fahren
                wait_ms(400);
                drivePWM.pulsewidth_us(1500);   //Stehen
                wait_ms(200);
                drivePWM.pulsewidth_us(1325);   //1. Einschlag voll rechts
                steerPWM.pulsewidth_us(2000);
                wait_ms(970);
                steerPWM.pulsewidth_us(1000);   //2. Einschlag - voll links
                wait_ms(950);
                drivePWM.pulsewidth_us(1700);   //Korrektur nach vorne - leicht rechts
                steerPWM.pulsewidth_us(1700);
                wait_ms(420);
                drivePWM.pulsewidth_us(1500);   //Ende
                steerPWM.pulsewidth_us(1500);
                //3mal aufblinken der Blinker
                break;
             }
        }
    }
}