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#include "global.h"
#include "hal/keylcd.h"
#include "navigation.h"
#include "sensor/sensor.h"
Board board;
KeyLCD keylcd;
Navigation navigation;
Sensor sensor;
int main() {
//board.ledOn();
sleep(2);
int speed = 255;
/*for(int i=-255;i<=255;i+=30) {
board.motor(0,i);
board.motor(1,i);
board.motor(2,i);
board.motor(3,i);
sleep(1);
}*/
board.motor(0, speed);
board.motor(1, speed);
board.motor(2, speed);
board.motor(3, speed);
PORTB |= (1 << PB5) | (1 << PB7); // Setze PWM-Ports auf high
PORTE |= (1 << PE3) | (1 << PE4);
//sleep(10);
while(true) { sleep(1); }
/*sleep(10);
board.motor(0, 0);
board.motor(1, 0);
board.motor(2, 0);
board.motor(3, 0);*/
//while(true) { sleep(1); }
//board.beep(450);
//board.ledOn();
/*keylcd.print("test");
sleep(1);
//board.ledOff();
//sleep(1);
for(int i=0;i<keylcd.error();i++) {
board.ledOn();
sleep(1);
board.ledOff();
sleep(1);
}
board.ledOn();
uart1_puts("18");
uart1_puts("Hallo Du! Hier ist dein AtMega128\n");
sleep(1);
board.ledOff();
sleep(10);
//board.ledOff();*/
while(true) {
navigation.Aktualisieren(0,0,speed);
sleep(2);
navigation.Aktualisieren(90,0,speed);
sleep(2);
navigation.Aktualisieren(180,0,speed);
sleep(2);
navigation.Aktualisieren(270,0,speed);
sleep(2);
}
while(true)
{
//board.ledOn();
//sleep(1);
//board.ledOff();
sleep(1);
}
//for(int i=0;i<=7;i++) board.GetADC(i);
return 0;
}
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