Abgabe

2017-06-28 20:40:01 +02:00
parent 76dd61f48b
commit 8d2b664149
41 changed files with 5225 additions and 0 deletions
--- a/kawaii/test.cpp
+++ b/kawaii/test.cpp
@@ -0,0 +1,97 @@
+#include <thread>
+#include <chrono>
+#include <sstream>
+#include <iostream>
+
+#include "engine.hpp"
+#include "ultrasound_sensor.hpp"
+
+using namespace std;
+
+enum class drive_mode
+{
+	LEFT,
+	RIGHT,
+	FIND_TURN,
+};
+
+int main()
+{
+	engine right(
+			gpio(13, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON),
+			gpio(20, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON)
+			);
+	engine left(
+			gpio(19, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON),
+			gpio(26, gpio::pin_direction::OUTPUT, gpio::pin_type::LOW_ON)
+			);
+	gpio bwright(2, gpio::pin_direction::INPUT, gpio::pin_type::HIGH_ON);
+	gpio bw1(3, gpio::pin_direction::INPUT, gpio::pin_type::HIGH_ON);
+	gpio bw2(4, gpio::pin_direction::INPUT, gpio::pin_type::HIGH_ON);
+	gpio bwleft(17, gpio::pin_direction::INPUT, gpio::pin_type::HIGH_ON);
+
+	ultrasound_sensor ultrasound(23, 24);
+
+	left.set_speed(-50);
+	right.set_speed(-50);
+	while (ultrasound.get_value() > 200000)
+	{
+		cout << ultrasound.get_value() << endl;
+		this_thread::sleep_for(500ms);
+	}
+	left.set_speed(0);
+	right.set_speed(0);
+
+/*	auto stop_time = chrono::high_resolution_clock::now() + 1min;
+	drive_mode mode = drive_mode::LEFT;
+	right.set_speed(50);
+	left.set_speed(10);
+	while (stop_time > chrono::high_resolution_clock::now())
+	{
+		int found_corners = bwright.get_value() + bwleft.get_value() + bw1.get_value() + bw2.get_value();
+		if (mode == drive_mode::FIND_TURN)
+		{
+			if (!bwright.get_value())
+			{
+				right.set_speed(100);
+				left.set_speed(0);
+				mode = drive_mode::LEFT;
+			}
+			else if (!bwleft.get_value())
+			{
+				right.set_speed(0);
+				left.set_speed(100);
+				mode = drive_mode::RIGHT;
+			}
+		}
+		else if (found_corners >= 3 || (bwright.get_value() && bwleft.get_value()))
+		{
+			left.set_speed(100);
+			right.set_speed(100);
+			mode = drive_mode::FIND_TURN;
+		}
+		else if (mode == drive_mode::LEFT)
+		{
+			if (bwright.get_value())
+			{
+				left.set_speed(100);
+				right.set_speed(0);
+				mode = drive_mode::RIGHT;
+			}
+		}
+		else if (mode == drive_mode::RIGHT)
+		{
+			if (bwleft.get_value())
+			{
+				left.set_speed(0);
+				right.set_speed(100);
+				mode = drive_mode::LEFT;
+			}
+		}
+		this_thread::sleep_for(1ms);
+	}
+	right.set_speed(0);
+	left.set_speed(0);
+*/
+	return 0;
+}