7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

source/main.cpp@12:3384196374ca, 2015-01-13 (annotated)

Committer:
AlexandreN7
Date:
Tue Jan 13 17:07:47 2015 +0000
Revision:
12:3384196374ca
Parent:
11:b00b073f05a4
Parent:
6:a4e49784b533
Child:
13:61c50db20069
merge final i hope

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
AlexandreN7 9:43c8e6d6724d 13 //Serial uart(PTD3, PTD2); //xbee
AlexandreN7 9:43c8e6d6724d 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;
RobinN7 0:3af30bfbc3e5 22 int indexMax=128;
RobinN7 0:3af30bfbc3e5 23 int max_detect=indexMin;
AlexandreN7 9:43c8e6d6724d 24 float Kp_servo = 0;
RobinN7 0:3af30bfbc3e5 25 uart.baud(115200);
RobinN7 0:3af30bfbc3e5 26 init_led();
RobinN7 0:3af30bfbc3e5 27
RobinN7 0:3af30bfbc3e5 28 // Init UART baudrate
RobinN7 0:3af30bfbc3e5 29
RobinN7 0:3af30bfbc3e5 30
RobinN7 0:3af30bfbc3e5 31 // Lancement boucle
RobinN7 0:3af30bfbc3e5 32 while(1){
RobinN7 0:3af30bfbc3e5 33
RobinN7 0:3af30bfbc3e5 34 readline();
RobinN7 0:3af30bfbc3e5 35 passebas();
AlexandreN7 9:43c8e6d6724d 36 derivation();
RobinN7 0:3af30bfbc3e5 37
AlexandreN7 8:8f886cd6a59f 38 uart.printf("S");//debug START
RobinN7 0:3af30bfbc3e5 39 for (int indice_pixel=0; indice_pixel<128; indice_pixel++)
RobinN7 0:3af30bfbc3e5 40 {
RobinN7 0:3af30bfbc3e5 41 uart.printf("%d,",pixel[indice_pixel]);
RobinN7 0:3af30bfbc3e5 42 }
AlexandreN7 8:8f886cd6a59f 43 uart.printf("E");//debug END
RobinN7 0:3af30bfbc3e5 44
RobinN7 0:3af30bfbc3e5 45 for (int j=indexMin; j<indexMax; j++)
RobinN7 0:3af30bfbc3e5 46 {
RobinN7 0:3af30bfbc3e5 47 if (pixel[j]>pixel[max_detect])
RobinN7 0:3af30bfbc3e5 48 {
RobinN7 0:3af30bfbc3e5 49 max_detect=j;
RobinN7 0:3af30bfbc3e5 50 }
RobinN7 6:a4e49784b533 51 }
RobinN7 6:a4e49784b533 52 // Réduction de la vitesse moteur si l'angle du servo augmente
RobinN7 6:a4e49784b533 53 if (max_detect>64)
RobinN7 6:a4e49784b533 54 {
RobinN7 6:a4e49784b533 55 consigne_moteur_1=6-(max_detect-64)/20.;
RobinN7 6:a4e49784b533 56 consigne_moteur_2=6-(max_detect-64)/15.;
RobinN7 0:3af30bfbc3e5 57 }
AlexandreN7 12:3384196374ca 58
RobinN7 0:3af30bfbc3e5 59
RobinN7 0:3af30bfbc3e5 60 //servo = float(min_detect-indexMin)/float(indexMax-indexMin);
AlexandreN7 9:43c8e6d6724d 61 //lecture du potentiometre
AlexandreN7 12:3384196374ca 62 // Kp_servo=2.0*pot1.read_u16()/65000.0;
AlexandreN7 9:43c8e6d6724d 63 //
AlexandreN7 12:3384196374ca 64 // servo = float(max_detect)/128.;
AlexandreN7 12:3384196374ca 65 // servo = 1.2*(float(max_detect)/128.-0.5)+0.5;
RobinN7 0:3af30bfbc3e5 66
AlexandreN7 11:b00b073f05a4 67 // servo = 1.6*(double(max_detect)/128.-0.5)+0.5;
AlexandreN7 11:b00b073f05a4 68
AlexandreN7 11:b00b073f05a4 69
RobinN7 0:3af30bfbc3e5 70
RobinN7 6:a4e49784b533 71 else
RobinN7 6:a4e49784b533 72 {
RobinN7 6:a4e49784b533 73 consigne_moteur_1=6-(64-max_detect)/15.;
RobinN7 6:a4e49784b533 74 consigne_moteur_2=6-(64-max_detect)/20.;
RobinN7 6:a4e49784b533 75 }
RobinN7 6:a4e49784b533 76 servo = 1.4*(double(max_detect)/128.-0.5)+0.5;
RobinN7 0:3af30bfbc3e5 77
AlexandreN7 12:3384196374ca 78
RobinN7 0:3af30bfbc3e5 79 }
RobinN7 0:3af30bfbc3e5 80 }
RobinN7 0:3af30bfbc3e5 81