Revision 2:b996c95912b5, committed 2014-04-07

Comitter:

iLyngklip

Date:

Mon Apr 07 06:24:19 2014 +0000

Parent:

1:e854d5c12659

Commit message:

Final version 2. drive

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Rfid.lib	Mon Apr 07 06:24:19 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/iLyngklip/code/Rfid/#051708395e3c

--- a/hack_motor.cpp	Sat Apr 05 11:26:42 2014 +0000
+++ b/hack_motor.cpp	Mon Apr 07 06:24:19 2014 +0000
@@ -101,21 +101,45 @@
         HejsA = 0;
         }
         
-void Wheel::venSelv1()
+void Wheel::venSelv1() // Højre
     {
-        M1A.write(0.9); //Set the duty cycle to the wanted percent, from speed variable
+        M1A.write(0.7); //Set the duty cycle to the wanted percent, from speed variable
+        M2A.write(0.0); // -//-
+        M1B = 0;
+        M2B = 0;
+        wait_ms(100);
+        M2A.write(0.7);
+    }
+void Wheel::venSelv2() // Venstre
+    {
+        M1A.write(0.0); //Set the duty cycle to the wanted percent, from speed variable
         M2A.write(0.7); // -//-
         M1B = 0;
         M2B = 0;
-        wait_ms(10);
-        M2A.write(0.9);
+        wait_ms(100);
+        M1A.write(0.7);
     }
-void Wheel::venSelv2()
+void Wheel::venSelv3() // Skarp højre
     {
+        M1A.write(0.8);
+        M2A.write(0.8);
+        wait_ms(25);
         M1A.write(0.7); //Set the duty cycle to the wanted percent, from speed variable
-        M2A.write(0.9); // -//-
+        M2A.write(0.95); // -//-
         M1B = 0;
+        M2B = 1;
+        wait_ms(10);
+        M1A.write(0.0);
+    }
+void Wheel::venSelv4() // Venstre Skarpt
+    {
+        M1A.write(0.8);
+        M2A.write(0.8);
+        wait_ms(25);
+        M1A.write(0.95); //Set the duty cycle to the wanted percent, from speed variable
+        M2A.write(0.7); // -//-
+        M1B = 1;
         M2B = 0;
         wait_ms(10);
-        M1A.write(0.9);
+        M1A.write(0.0);
     }
\ No newline at end of file

--- a/hack_motor.h	Sat Apr 05 11:26:42 2014 +0000
+++ b/hack_motor.h	Mon Apr 07 06:24:19 2014 +0000
@@ -24,6 +24,8 @@
     void saenk();
     void venSelv1();
     void venSelv2();
+    void venSelv3();
+    void venSelv4();
     float speed;
     
 protected:

--- a/main.cpp	Sat Apr 05 11:26:42 2014 +0000
+++ b/main.cpp	Mon Apr 07 06:24:19 2014 +0000
@@ -8,20 +8,21 @@
  HCSR04 sensor(PTA13, PTD5, PTD0, PTD2);
     
 Wheel robot; 
-
+int control = 0;
+int L1 = 0;
+int L2 = 0;
 int main(){
     
 
     pc.baud(9600);
    
-    while(1){                
+    while(control == 0){                
         robot.init(); 
         char c; 
         pc.printf(" speed 1, 2 & 3, frem w, bagud s, venstre a & hoejre d"); 
           
             { 
-            c = pc.getc(); 
-              
+            c = pc.getc();  
             switch (c) 
                 {  
                     case 0x31: 
@@ -39,24 +40,29 @@
                         pc.printf("3"); 
                         break; 
                           
-                    case 0x77: 
+                    case 's': 
                         robot.FW(); 
-                        pc.printf("w"); 
+                        pc.printf("s"); 
                         break; 
                       
-                    case 0x73: 
+                    case 'w': 
                         robot.BW(); 
-                        pc.printf("s"); 
+                        pc.printf("w"); 
                         break; 
                           
                     case 0x61: 
                         robot.left();  
                         pc.printf("a"); 
+                        wait(0.1);
+                        robot.stop();
+                        
                         break; 
                           
                     case 0x64: 
                         robot.right(); 
-                        pc.printf("d"); 
+                        pc.printf("d");
+                        wait(0.1);
+                        robot.stop(); 
                         break; 
                         
                     case 'n':
@@ -78,13 +84,61 @@
                         robot.saenk();
                         pc.printf("b");
                         break;
+                        
+                        case 'p':
+                        control = 1;
+                        break;                        
+                        
                       
                     default : 
                         robot.stop(); 
                         break; 
                 }
     }
+        }
+        {
+       
+    
+    
+        
+        
         
     } // while
+    
+    while(control == 1){                
+        
+        L1 = sensor.Distance(CM); // Højre
+        L2 = sensor.distance(CM); // Venstre
+        
+        pc.printf("L1: %ld  L2: %ld \r\n", L1, L2);
+        
+        
+        if(L1 >= L2 && L1 > 50){
+        robot.venSelv3(); // Højre skarpt
+        }
+        
+        if(L2 >= L1 && L2 > 50){
+        robot.venSelv4(); // Venstre skarpt
+        }
+        
+        if(L1 >= L2){
+        robot.venSelv1(); // Højre
+        }
+        
+        
+        
+        if(L2 > L1){
+        robot.venSelv2(); // Venstre
+        }
+        
+        if(L1 > 65){
+            control = 0;
+            }
+            }
+    
+    
+    
+    
+    
 } // main