File content as of revision 0:7ee4c6416e08:

#include "mbed.h"
#include "IRSensor.h"
#include "Controller.h"
#include "LowpassFilter.h"

DigitalOut myled(LED1);

int main()
{
    DigitalOut led0(PD_4);
    DigitalOut led1(PD_3);
    DigitalOut led2(PD_6);
    DigitalOut led3(PD_2);
    DigitalOut led4(PD_7);
    DigitalOut led5(PD_5);

    AnalogIn distance(PA_0); // Kreieren der Ein- und Ausgangsobjekte
    DigitalOut enable(PG_1);
    DigitalOut bit0(PF_0);
    DigitalOut bit1(PF_1);
    DigitalOut bit2(PF_2);




    IRSensor irSensor0(distance, bit0, bit1, bit2, 0); // Objekte kreieren
    IRSensor irSensor1(distance, bit0, bit1, bit2, 1);
    IRSensor irSensor2(distance, bit0, bit1, bit2, 2);
    IRSensor irSensor3(distance, bit0, bit1, bit2, 3);
    IRSensor irSensor4(distance, bit0, bit1, bit2, 4);
    IRSensor irSensor5(distance, bit0, bit1, bit2, 5);

    enable = 1; // schaltet die Sensoren ein

    DigitalOut enableMotorDriver(PG_0);
    DigitalIn motorDriverFault(PD_1);
    DigitalIn motorDriverWarning(PD_0);
    PwmOut pwmLeft(PF_9);
    PwmOut pwmRight(PF_8);
    
    EncoderCounter counterLeft(PD_12, PD_13);
    EncoderCounter counterRight(PB_4, PC_7);
    
    Controller controller(pwmLeft, pwmRight, counterLeft, counterRight);
    
    while(1) {
        /*
        led0 = 1; // LED is ON
        led1 = 0;
        led2 = 0;
        led3 = 0;
        led4 = 0;
        led5 = 0;

        wait(0.2); // 200 ms

        led0 = 0; // LED is ON
        led1 = 1;
        led2 = 0;
        led3 = 0;
        led4 = 0;
        led5 = 0;

        wait(0.2); // 200 ms

        led0 = 0; // LED is ON
        led1 = 0;
        led2 = 1;
        led3 = 0;
        led4 = 0;
        led5 = 0;

        wait(0.2); // 200 ms

        led0 = 0; // LED is ON
        led1 = 0;
        led2 = 0;
        led3 = 1;
        led4 = 0;
        led5 = 0;

        wait(0.2); // 200 ms

        led0 = 0; // LED is ON
        led1 = 0;
        led2 = 0;
        led3 = 0;
        led4 = 1;
        led5 = 0;

        wait(0.2); // 200 ms

        led0 = 0; // LED is ON
        led1 = 0;
        led2 = 0;
        led3 = 0;
        led4 = 0;
        led5 = 1;

        wait(0.2); // 200 ms


        AnalogIn distance(PA_0); // Kreieren der Ein- und Ausgangsobjekte
        DigitalOut enable(PG_1);
        DigitalOut bit0(PF_0);
        DigitalOut bit1(PF_1);
        DigitalOut bit2(PF_2);
        enable = 1; // schaltet die Sensoren ein
        bit0 = 0; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
        bit1 = 0;
        bit2 = 0;
        float d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]

        printf("Distance hinten: %f \r \n",d);

        bit0 = 1; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
        bit1 = 0;
        bit2 = 0;
        d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]

        printf("Distance hinten-links: %f \r \n",d);

        bit0 = 0; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
        bit1 = 1;
        bit2 = 0;
        d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]

        printf("Distance vorne-links: %f \r \n",d);

        bit0 = 0; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
        bit1 = 0;
        bit2 = 1;
        d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]

        printf("Distance vorne-rechts: %f \r \n",d);

        bit0 = 1; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
        bit1 = 0;
        bit2 = 1;
        d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]

        printf("Distance hinten-rechts: %f \r \n",d);

        bit0 = 1; // Wahl des Sensors mit dem Multiplexer (Sensor hinten)
        bit1 = 1;
        bit2 = 0;
        d = -0.58f*sqrt(distance)+0.58f; // Lesen der Distanz in [m]

        printf("Distance vorne: %f \r \n",d);
        */
      
        
        float distance0 = irSensor0.read(); // gibt die Distanz in [m] zurueck
        float distance1 = irSensor1.read();
        float distance2 = irSensor2.read();
        float distance3 = irSensor3.read();
        float distance4 = irSensor4.read();
        float distance5 = irSensor5.read();
        
        printf("Distance hinten: %f \r \n", distance0);
        printf("Distance hinten-links: %f \r \n", distance1);
        printf("Distance vorne-links: %f \r \n", distance2);
        printf("Distance vorne: %f \r \n", distance3);
        printf("Distance vorne-rechts: %f \r \n", distance4);
        printf("Distance hinten-rechts: %f \r \n", distance5);
        
        if (distance0 <= 0.1) { led0=1;
       
            }else {led0=0;}
            
        if (distance1 <= 0.1) { led1=1;
       
            }else {led1=0;}
        if (distance2 <= 0.1) { led2=1;
       
            }else {led2=0;}
        if (distance3 <= 0.1) { led3=1;
       
            }else {led3=0;}
        if (distance4 <= 0.1) { led4=1;
       
            }else {led4=0;}
        if (distance5 <= 0.1) { led5=1;
       
            }else {led5=0;}
       /*     
        pwmLeft.period(0.00005); // Setzt die Periode auf 50 μs
        pwmRight.period(0.00005);
        
        pwmLeft = 0.5; // Setzt die Duty-Cycle auf 50%
        pwmRight = 0.5;
        */
        enableMotorDriver = 1; // Schaltet den Leistungstreiber ein

        //pwmLeft = 0.7; // Duty-Cycle von 70%
        //pwmRight = 0.3;
        
        
        controller.setDesiredSpeedLeft(100.0); // Drehzahl in [rpm]
        controller.setDesiredSpeedRight(-100.0);
        
        wait(0.2);

        }

}