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⚬ MotorTest#1
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⚬ 2010_11_18_el_test001#1
Hinderniss Erkennung
main.cpp
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NiboRoboLib 3.6
2017-01-17: Neue Version 3.6
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robotik3_1/main.cpp [read only]
#include <nibobee/robomain.h> // in diesem Bereich können globale Variablen definiert werden // ... void setup() { led_init(); motpwm_init(); feeler_init(); //SELF Test led_set(0, 1); led_set(1, 1); led_set(2, 1); led_set(3, 1); led_set(4, 1); delay(1000); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); led_set(4, 0); delay(1000); } void loop() { int statusR; int statusL; statusL = feeler_getLeft(); statusR = feeler_getRight(); motpwm_setRight(800); motpwm_setLeft(800); //Links switch (statusL) { case -1: led_set(1, 1); motpwm_setRight(0); motpwm_setLeft(0); delay(250); motpwm_setRight(-1000); motpwm_setLeft(-1000); delay(1500); motpwm_setRight(0); motpwm_setLeft(0); led_set(0, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(150); led_set(0, 1); led_set(1, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(500); motpwm_setRight(300); motpwm_setLeft(600); delay(950); motpwm_setRight(500); motpwm_setLeft(500); break; case +1: led_set(1, 1); motpwm_setRight(0); motpwm_setLeft(0); delay(250); motpwm_setRight(-1000); motpwm_setLeft(-1000); delay(1500); motpwm_setRight(0); motpwm_setLeft(0); led_set(0, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(150); led_set(0, 1); led_set(1, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(500); motpwm_setRight(300); motpwm_setLeft(600); delay(950); motpwm_setRight(500); motpwm_setLeft(500); break; } //Rechts switch (statusR) { case -1: led_set(2, 1); motpwm_setRight(0); motpwm_setLeft(0); delay(250); motpwm_setRight(-1000); motpwm_setLeft(-1000); delay(1500); motpwm_setRight(0); motpwm_setLeft(0); led_set(0, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(150); led_set(0, 1); led_set(1, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(500); motpwm_setRight(600); motpwm_setLeft(300); delay(950); motpwm_setRight(500); motpwm_setLeft(500); break; case +1: led_set(2, 1); motpwm_setRight(0); motpwm_setLeft(0); delay(250); motpwm_setRight(-1000); motpwm_setLeft(-1000); delay(1500); motpwm_setRight(0); motpwm_setLeft(0); led_set(0, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(150); led_set(0, 1); led_set(1, 1); led_set(2, 1); led_set(3, 1); delay(150); led_set(0, 0); led_set(1, 0); led_set(2, 0); led_set(3, 0); delay(500); motpwm_setRight(600); motpwm_setLeft(300); delay(950); motpwm_setRight(500); motpwm_setLeft(500); break; } }
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ZockerBoysHD Hinderniss Erkennung main.cpp
