7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

source/main.cpp@20:24ebe046ebe9, 2015-01-17 (annotated)

Committer:
AlexandreN7
Date:
Sat Jan 17 16:51:33 2015 +0000
Revision:
20:24ebe046ebe9
Parent:
17:31e000d82b21
Child:
21:9430357e777c
apparement les deux cameras fonctionnent ...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RobinN7 0:3af30bfbc3e5 1
RobinN7 0:3af30bfbc3e5 2 //Bibliothéque
RobinN7 0:3af30bfbc3e5 3 #include "mbed.h"
RobinN7 0:3af30bfbc3e5 4 #include "QEI.h"
RobinN7 0:3af30bfbc3e5 5 #include "Gestion_Moteur.h"
RobinN7 0:3af30bfbc3e5 6 #include "Camera.h"
RobinN7 0:3af30bfbc3e5 7 #include "Servo.h"
RobinN7 0:3af30bfbc3e5 8
RobinN7 0:3af30bfbc3e5 9 //Differents objet/variable global
RobinN7 0:3af30bfbc3e5 10
AlexandreN7 1:49100fa5e278 11 //test de commit
RobinN7 0:3af30bfbc3e5 12
RobinN7 14:000be67805b2 13 Serial uart(PTD3, PTD2); //xbee
RobinN7 14:000be67805b2 14 //Serial uart(USBTX, USBRX); //port série usb ACM0
RobinN7 0:3af30bfbc3e5 15 Servo servo(PTD0);
AlexandreN7 9:43c8e6d6724d 16 AnalogIn pot1(PTC1);
RobinN7 0:3af30bfbc3e5 17
RobinN7 0:3af30bfbc3e5 18 int main() {
RobinN7 0:3af30bfbc3e5 19 // Initialisation
RobinN7 0:3af30bfbc3e5 20
RobinN7 0:3af30bfbc3e5 21 int indexMin=0;
AlexandreN7 20:24ebe046ebe9 22 int indexMax=128;
AlexandreN7 20:24ebe046ebe9 23 int compteur_uart=0;
RobinN7 0:3af30bfbc3e5 24 int max_detect=indexMin;
AlexandreN7 9:43c8e6d6724d 25 float Kp_servo = 0;
RobinN7 0:3af30bfbc3e5 26 uart.baud(115200);
RobinN7 0:3af30bfbc3e5 27 init_led();
RobinN7 0:3af30bfbc3e5 28
RobinN7 0:3af30bfbc3e5 29 // Init UART baudrate
RobinN7 0:3af30bfbc3e5 30
RobinN7 0:3af30bfbc3e5 31
RobinN7 0:3af30bfbc3e5 32 // Lancement boucle
RobinN7 0:3af30bfbc3e5 33 while(1){
RobinN7 0:3af30bfbc3e5 34
RobinN7 0:3af30bfbc3e5 35 readline();
AlexandreN7 20:24ebe046ebe9 36 //passebas(12);
AlexandreN7 20:24ebe046ebe9 37 //derivation();
RobinN7 15:b77dc649e4f3 38 //passebas(4);
RobinN7 15:b77dc649e4f3 39
AlexandreN7 20:24ebe046ebe9 40
AlexandreN7 20:24ebe046ebe9 41 if (compteur_uart ==50) // on envoit une trame toute les 50 acquisitions de cameras
AlexandreN7 20:24ebe046ebe9 42 {
AlexandreN7 20:24ebe046ebe9 43 uart.printf("S1");//debug START
AlexandreN7 20:24ebe046ebe9 44 for (int indice_pixel=0; indice_pixel<128; indice_pixel++)
AlexandreN7 20:24ebe046ebe9 45 {
AlexandreN7 20:24ebe046ebe9 46 uart.printf("%d,",pixel1[indice_pixel]);
AlexandreN7 20:24ebe046ebe9 47 }
AlexandreN7 20:24ebe046ebe9 48 uart.printf("E");//debug END
AlexandreN7 20:24ebe046ebe9 49
AlexandreN7 20:24ebe046ebe9 50 uart.printf("S2");//debug START
AlexandreN7 20:24ebe046ebe9 51 for (int indice_pixel=0; indice_pixel<128; indice_pixel++)
AlexandreN7 20:24ebe046ebe9 52 {
AlexandreN7 20:24ebe046ebe9 53 uart.printf("%d,",pixel2[indice_pixel]);
AlexandreN7 20:24ebe046ebe9 54 }
AlexandreN7 20:24ebe046ebe9 55 uart.printf("E");//debug END
AlexandreN7 20:24ebe046ebe9 56 compteur_uart =0;
RobinN7 0:3af30bfbc3e5 57 }
AlexandreN7 20:24ebe046ebe9 58 else {
AlexandreN7 20:24ebe046ebe9 59 compteur_uart =compteur_uart+1;
AlexandreN7 20:24ebe046ebe9 60 }
RobinN7 0:3af30bfbc3e5 61
RobinN7 0:3af30bfbc3e5 62 for (int j=indexMin; j<indexMax; j++)
RobinN7 0:3af30bfbc3e5 63 {
AlexandreN7 20:24ebe046ebe9 64 if (pixel1[j]>pixel1[max_detect])
RobinN7 0:3af30bfbc3e5 65 {
RobinN7 0:3af30bfbc3e5 66 max_detect=j;
RobinN7 0:3af30bfbc3e5 67 }
RobinN7 6:a4e49784b533 68 }
RobinN7 14:000be67805b2 69 // Réduction proportionelle de la vitesse moteur si l'angle du servo augmente
RobinN7 6:a4e49784b533 70 if (max_detect>64)
RobinN7 6:a4e49784b533 71 {
RobinN7 15:b77dc649e4f3 72 consigne_moteur_1=6*(1-(max_detect-64)/150.);
RobinN7 15:b77dc649e4f3 73 consigne_moteur_2=6*(1-(max_detect-64)/100.);
RobinN7 0:3af30bfbc3e5 74 }
RobinN7 6:a4e49784b533 75 else
RobinN7 6:a4e49784b533 76 {
RobinN7 15:b77dc649e4f3 77 consigne_moteur_1=7*(1-(64-max_detect)/100.);
RobinN7 15:b77dc649e4f3 78 consigne_moteur_2=7*(1-(64-max_detect)/150.);
RobinN7 6:a4e49784b533 79 }
RobinN7 13:61c50db20069 80 // Lecture du potentiometre
RobinN7 13:61c50db20069 81 Kp_servo=2.0*pot1.read_u16()/65000.0;
RobinN7 13:61c50db20069 82
RobinN7 13:61c50db20069 83 servo = Kp_servo*(double(max_detect)/128.-0.5)+0.5;
RobinN7 0:3af30bfbc3e5 84
AlexandreN7 12:3384196374ca 85
RobinN7 0:3af30bfbc3e5 86 }
RobinN7 0:3af30bfbc3e5 87 }
RobinN7 0:3af30bfbc3e5 88