Revision 0:486e8a67dbbc, committed 2015-05-08

Comitter:

zwiebelturm100

Date:

Fri May 08 08:12:15 2015 +0000

Commit message:

BertelReverseDrehung

Changed in this revision

diff -r 000000000000 -r 486e8a67dbbc config.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/config.h	Fri May 08 08:12:15 2015 +0000
@@ -0,0 +1,69 @@
+/***********************************
+name:   config.h    v0.2
+author: PE HTL BULME
+email:  pe@bulme.at
+description:
+    Constants and wiring for ur_Bertl
+   
+      
+***********************************/
+#ifndef _FOO_H
+#define _FOO_H
+
+#include "mbed.h"
+
+
+#define DEBUG 0
+
+const int BTN_FLL = 0x80;   // button front left outer
+const int BTN_FL  = 0x04;   // button front left
+const int BTN_FM  = 0x01;   // button front middle
+const int BTN_FR  = 0x08;   // button front right 
+const int BTN_FRR = 0x40;   // button front right outer
+const int BTN_BL = 0x10;    // button back left
+const int BTN_BM = 0x02;    // button back middle
+const int BTN_BR = 0x20;    // button back right
+
+const int LED_FL1 = 0x01;   // front LED white 
+const int LED_FL2 = 0x02;   // front LED yellow
+const int LED_FR1 = 0x04;   // front LED white
+const int LED_FR2 = 0x08;   // front LED yellow
+const int LED_ALL_FRONT = 0x0F;
+
+const int LED_BL1 = 0x20;   // yellow LED back left outer
+const int LED_BL2 = 0x10;   // red LED back left inner
+const int LED_BR1 = 0x80;   // yellow LED back right outer
+const int LED_BR2 = 0x40;   // red LED back right inner
+const int LED_ALL_BACK = 0xF0;
+const int LED_ALL = 0xFF;
+
+const int addr = 0x40;      // I2C-address PCA9555
+
+Serial pc(USBTX, USBRX);    // tx, rx  
+
+DigitalOut LED_D10(P1_8);    // wiring LED D10 to D13 
+DigitalOut LED_D11(P1_9);    
+DigitalOut LED_D12(P1_10);   
+DigitalOut LED_D13(P1_11);   
+
+DigitalOut MotorL_EN(p34);  // wiring motor left
+DigitalOut MotorL_FORWARD(P1_1);
+DigitalOut MotorL_REVERSE(P1_0);
+
+DigitalOut MotorR_EN(p36);  // wiring motor right
+DigitalOut MotorR_FORWARD(P1_3);
+DigitalOut MotorR_REVERSE(P1_4);
+
+I2C i2c(p28,p27);   
+BusIn linesensor(p18, p16, p19, p17);  
+DigitalIn SensorL(P1_12);    // motor sensor left
+DigitalIn SensorR(P1_13);    // motor sensor right
+
+#if defined(DEBUG) && DEBUG > 0
+ #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
+    __FILE__, __LINE__, __func__, ##args)
+#else
+ #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */
+#endif
+
+#endif
\ No newline at end of file

diff -r 000000000000 -r 486e8a67dbbc main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri May 08 08:12:15 2015 +0000
@@ -0,0 +1,340 @@
+/***********************************
+* name:   func_Bertl    v 0.3
+* author: PE HTL BULME
+* email:  pe@bulme.at
+* description:
+*    functions for Bertl The Robot
+*
+*************************************/
+#include "mbed.h"
+#include "config.h"
+
+bool Start();
+void ShutOff();
+void Move();
+bool FrontIsClear();
+bool MoveMeasure(int time, int& left, int& right);
+bool MoveTicks(int ticks);
+void TurnBack();
+void TurnLeftTicks(int ticks);
+void TurnLeftTime(int ms);
+void TurnLeft();
+void TurnLedOn(int16_t led);
+void TurnLedOff(int16_t led);
+void MoveMore(int anzahl);
+void Back();
+bool WaitUntilButtonPressed();
+
+// Eigene Funktionsdefinitionen hier
+
+void TurnBackTime(int ms);
+void TurnRightTime(int ms);
+
+
+
+    
+// *************  Hauptprogramm ************
+int main()
+{
+    // while(!Start()) {}   // wait to start
+    while(FrontIsClear()) {
+        MoveTicks(10);
+    }
+
+    TurnBackTime(400);
+
+   // TurnRightTime(100);
+    MoveTicks(1000);
+
+    wait(1);
+    TurnLeftTicks(1500);    // Anzahl der MotorSensorwerte
+
+    ShutOff();
+    return 0;
+
+
+}
+
+
+bool Start()
+{
+    DEBUG_PRINT("Debug level: %d", (int) DEBUG);
+    i2c.frequency(40000);       // I2C Frequenz 40kHz
+
+    while(WaitUntilButtonPressed()) {    }
+    return true;
+}
+
+
+void ShutOff()
+{
+    MotorR_FORWARD = MotorL_FORWARD = 0;    // motor OFF
+    MotorR_EN=MotorL_EN=0;                  // motor disable
+}
+
+void Move()
+{
+    int count=0, left=0, right=0;           // initialise variables
+    MotorR_EN=MotorL_EN=1;                  // both motor ENABLE
+
+    while(count<1000) {
+        MotorR_FORWARD = MotorL_FORWARD = 1;// both motor forward ON
+        LED_D10 = SensorL;                  //  LED D10 blinks
+        if(SensorL == 1)
+            left++;
+        if(SensorR == 1)
+            right++;
+        LED_D13 = SensorR;                  // LED D13 blinks
+        count++;
+        wait_ms(1);                         // wait for 1 ms
+    }
+    //DEBUG_PRINT("SensorL: %d SensorR: %d\right\n", left, right);
+
+    MotorR_FORWARD = MotorL_FORWARD = 0;    // both motor off
+    MotorR_EN=MotorL_EN=0;
+    wait_ms(250);
+}
+
+bool FrontIsClear()
+{
+    char cmd[3];    // array for I2C
+    int16_t btns;
+    bool wert;
+
+    cmd[0] = 0x06;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2); // define Port0 = Out
+
+    cmd[0]=0x01;
+    i2c.write(addr, cmd, 1);
+    i2c.read(addr|1, cmd, 1);
+    btns = cmd[0];
+    if( btns & (BTN_FL|BTN_FM|BTN_FR))
+        wert = false;
+    else
+        wert = true;
+    DEBUG_PRINT("\right\nWERT: %d \right\n", wert);
+    return wert;
+}
+
+/*
+use in main():
+    int left=0, right=0;
+
+    MoveMeasure(1000, left, right);
+    pc.printf("\r\nleft= %d  right= %d\r\n", left, right);
+*/
+bool MoveMeasure(int time, int& left, int& right)
+{
+    int count=0; //, left=0, right=0;
+
+    MotorR_EN=MotorL_EN=1;
+    MotorR_FORWARD = MotorL_FORWARD = 1;
+
+    while(count<time) {
+        MotorR_FORWARD = MotorL_FORWARD = 1;
+        LED_D10 = SensorL;
+        if(SensorL == 1)
+            left++;
+        if(SensorR == 1)
+            right++;
+        LED_D13 = SensorR;
+        count++;
+        wait_ms(1);
+    }
+    DEBUG_PRINT("SensorL: %d SensorR: %d\right\n", left, right);
+
+    MotorR_FORWARD = MotorL_FORWARD = 0;
+    MotorR_EN=MotorL_EN=0;
+    wait_ms(500);
+    return true;
+}
+
+bool MoveTicks(int ticks)
+{
+    int count=0, left=0, right=0;                   //Variable count auf 0 setzen
+
+    MotorR_EN=MotorL_EN=1;                 // Beide Motoren ENABLE
+    while(ticks--) {             // mache solang ticks
+        MotorR_FORWARD = MotorL_FORWARD = 1;  // Beide Motoren vorwärts EIN
+        LED_D10 = SensorL;   //  LED D10 blinkt
+        if(SensorL == 1)
+            left++;
+        if(SensorR == 1)
+            right++;
+        LED_D13 = SensorR;   //  LED D13 blinkt
+        count++;
+        wait_ms(1);          //  warte 1 mSekunde
+    }
+    DEBUG_PRINT("SensorL: %d SensorR: %d anzahl: %d\right\n", left, right, count);
+
+    MotorR_FORWARD = MotorL_FORWARD = 0;    // Motoren AUS
+    MotorR_EN=MotorL_EN=0;
+    //wait_ms(250);
+    return true;
+}
+
+void TurnBack()
+{
+    MotorR_EN=1;
+
+    MotorR_REVERSE = 1;
+    wait_ms(750);
+    MotorR_REVERSE = 0;
+    MotorR_EN=0;
+
+    wait_ms(250);
+}
+
+void TurnBackTime(int ms)
+{
+    MotorR_EN=1;
+
+    MotorR_REVERSE = 1;
+    wait_ms(750);
+    MotorR_REVERSE = 0;
+    MotorR_EN=0;
+
+    wait_ms(250);
+}
+
+void TurnLeftTicks(int ticks)
+{
+    MotorR_EN=1;
+    MotorL_EN=1;
+    int left=0, right=0;
+    while(ticks--) {
+        MotorR_FORWARD = MotorL_REVERSE = 1;
+        LED_D10 = SensorL;
+        if(SensorL == 1)
+            left++;
+        if(SensorR == 1)
+            right++;
+        LED_D13 = SensorR;
+        wait_ms(1);
+    }
+    DEBUG_PRINT("\right\nTurnLeft: SensorL: %d SensorR: %d \right\n", left, right);
+
+    MotorL_REVERSE = MotorR_FORWARD = 0;
+    MotorL_EN=MotorR_EN=0;
+
+    wait_ms(250);
+}
+
+void TurnLeftTime(int ms)
+{
+    MotorR_EN=1;            // motor right ENABLE
+
+    MotorR_FORWARD = 1;     // motor right forward ON
+    wait_ms(ms);            // wait for ms
+    MotorR_FORWARD = 0;     // motor right OFF
+    MotorR_EN=0;
+
+    wait_ms(250);           // only to step the robot
+}
+
+void TurnRightTime(int ms)
+{
+    MotorL_EN=1;            // motor left ENABLE
+
+    MotorL_FORWARD = 1;     // motor left forward ON
+    wait_ms(ms);            // wait for ms
+    MotorL_FORWARD = 0;     // motor left OFF
+    MotorL_EN=0;
+
+    wait_ms(250);           // only to step the robot
+}
+
+void TurnLeft()
+{
+    MotorR_EN=1;            // motor right ENABLE
+
+    MotorR_FORWARD = 1;     // motor right forward ON
+    wait_ms(500);           // wait 500 ms (90°)
+    MotorR_FORWARD = 0;     // motor right forward OFF
+    MotorR_EN=0;
+
+    wait_ms(250);           // only to step the robot
+}
+
+bool WaitUntilButtonPressed()
+{
+    char cmd[3];
+    int16_t btns;
+    bool wert;
+
+    cmd[0] = 0x06;
+    cmd[1] = 0x00;
+    i2c.write(addr, cmd, 2); // Define Port0 = Out
+
+    cmd[0]=0x01;
+    i2c.write(addr, cmd, 1);
+    i2c.read(addr|1, cmd, 1);
+    btns = cmd[0];
+    if( btns & (0xFF))
+        wert = false;
+    else
+        wert = true;
+    DEBUG_PRINT("\right\nWERT: %d \right\n", wert);
+    return wert;
+}
+
+void TurnLedOn(int16_t led)
+{
+    char cmd[3];
+
+    cmd[0] = 0x02;
+    cmd[1] = ~led;
+    i2c.write(addr, cmd, 2);
+    wait(0.5);
+}
+
+void TurnLedOff(int16_t led)
+{
+    char cmd[3];
+
+    cmd[0] = 0x02;
+    cmd[1] = led;
+    i2c.write(addr, cmd, 2);
+    wait(0.5);
+}
+
+/*
+void TurnAllLedOff()
+{
+    TurnLedOff(LED_ALL);
+}
+
+void TurnAllLedOn()
+{
+    TurnLedOn(LED_ALL);
+}
+
+void MoveMore(int anzahl)
+{
+    for(int i=0; i < anzahl; i++)
+        Move();
+}
+
+void Back()
+{
+    TurnLeftTicks(150);
+    TurnLeftTicks(150);
+}
+
+void MoveWhileFrontIsClear()
+{
+    while(FrontIsClear()) {
+        MoveTicks(30);
+    }
+}
+
+void LedTest()
+{
+    TurnLedOn(LED_FL1 |LED_FR1);
+    wait(1);
+    TurnAllLedOn();
+    wait(1);
+    TurnLedOff(LED_FL1 |LED_FR1);
+}
+*/
\ No newline at end of file

diff -r 000000000000 -r 486e8a67dbbc mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri May 08 08:12:15 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/5e5da4a5990b
\ No newline at end of file