Martin Winkler
BERTL Taster, Forward, Reverse, I²C, Martin Winkler
Revision 0:b1af0438774e, committed 2015-06-15
- Comitter:
- winkler_martin
- Date:
- Mon Jun 15 18:27:29 2015 +0000
- Commit message:
- BERTL Taster: forward, reverse, I?C
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
| mbed.bld | Show annotated file Show diff for this revision Revisions of this file |
diff -r 000000000000 -r b1af0438774e main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jun 15 18:27:29 2015 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+
+I2C i2c(p28, p27);
+
+DigitalOut MotorL(P1_15);
+DigitalOut MotorLf(P1_1);
+DigitalOut MotorLr(P1_0);
+
+DigitalOut MotorR(P0_21);
+DigitalOut MotorRf(P1_3);
+DigitalOut MotorRr(P1_4);
+
+DigitalOut Blau(P1_28);
+
+int taster = 0;
+
+int main() {
+
+ Blau = 0;
+ MotorL = MotorR = 1;
+ MotorLf = 1;
+ MotorRf = 1;
+
+ i2c.start();
+ i2c.write(0x40); // Adresse des PCA9555 = 40
+ // das letzte Bit = 0 -> schreiben 0040 0000
+ i2c.write(0x06); // Befehl für das IO Port 0 -> siehe SCHEMA des PCA9555
+ i2c.write(0x00); // Schalte alle Pins des Ports als OUTPUT
+ i2c.stop();
+
+ i2c.start();
+ i2c.write(0x40); // Adresse & schreiben
+ i2c.write(0x02); //
+ i2c.write(~5); // schriebn auf Port 0 den INVERSEN Wert von btn
+ i2c.stop();
+
+ while(1)
+ {
+ i2c.start();
+ i2c.write(0x40);
+ i2c.write(0x01);
+
+ i2c.start();
+ i2c.write(0x41);
+ taster = i2c.read(0);
+ i2c.stop();
+
+ if(taster == 1 || taster == 3 || taster == 5 || taster == 7 || taster == 9 || taster == 11 || taster == 13 || taster == 15)
+ {
+ MotorLf = MotorRf = 0;
+ MotorLr = MotorRr = 1;
+ i2c.start();
+ i2c.write(0x40); // Adresse & schreiben
+ i2c.write(0x02); //
+ i2c.write(~80); // schriebn auf Port 0 den INVERSEN Wert von btn
+ i2c.stop();
+ }
+ else if(taster == 2 || taster == 3 || taster == 6 || taster == 7 || taster == 10 || taster == 11 || taster == 14 || taster == 15)
+ {
+ i2c.start();
+ i2c.write(0x40); // Adresse & schreiben
+ i2c.write(0x02); //
+ i2c.write(~5); // schriebn auf Port 0 den INVERSEN Wert von btn
+ i2c.stop();
+ MotorLf = MotorRf = 1;
+ MotorLr = MotorRr = 0;
+ }
+ else if(taster == 255)
+ {
+ MotorLf = MotorRf = 1;
+ MotorLr = MotorRr = 0;
+ }
+ }
+}
\ No newline at end of file
diff -r 000000000000 -r b1af0438774e mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jun 15 18:27:29 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7cff1c4259d7 \ No newline at end of file