7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

source/main.cpp@6:a4e49784b533, 2015-01-13 (annotated)

Committer:
RobinN7
Date:
Tue Jan 13 17:03:09 2015 +0000
Revision:
6:a4e49784b533
Parent:
5:4d1a524433ca
Child:
12:3384196374ca
ca marche pas trop mal

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 0:3af30bfbc3e5 13 Serial uart(PTD3, PTD2);
RobinN7 0:3af30bfbc3e5 14 Servo servo(PTD0);
RobinN7 0:3af30bfbc3e5 15
RobinN7 0:3af30bfbc3e5 16
RobinN7 0:3af30bfbc3e5 17 int main() {
RobinN7 0:3af30bfbc3e5 18 // Initialisation
RobinN7 0:3af30bfbc3e5 19
RobinN7 0:3af30bfbc3e5 20 int indexMin=0;
RobinN7 0:3af30bfbc3e5 21 int indexMax=128;
RobinN7 0:3af30bfbc3e5 22 int max_detect=indexMin;
RobinN7 0:3af30bfbc3e5 23 uart.baud(115200);
RobinN7 0:3af30bfbc3e5 24 init_led();
RobinN7 0:3af30bfbc3e5 25
RobinN7 0:3af30bfbc3e5 26 // Init UART baudrate
RobinN7 0:3af30bfbc3e5 27
RobinN7 0:3af30bfbc3e5 28
RobinN7 0:3af30bfbc3e5 29 // Lancement boucle
RobinN7 0:3af30bfbc3e5 30 while(1){
RobinN7 0:3af30bfbc3e5 31
RobinN7 0:3af30bfbc3e5 32 readline();
RobinN7 0:3af30bfbc3e5 33
RobinN7 0:3af30bfbc3e5 34 passebas();
RobinN7 0:3af30bfbc3e5 35
RobinN7 0:3af30bfbc3e5 36 uart.printf("S");
RobinN7 0:3af30bfbc3e5 37 for (int indice_pixel=0; indice_pixel<128; indice_pixel++)
RobinN7 0:3af30bfbc3e5 38 {
RobinN7 0:3af30bfbc3e5 39 uart.printf("%d,",pixel[indice_pixel]);
RobinN7 0:3af30bfbc3e5 40 }
RobinN7 0:3af30bfbc3e5 41 uart.printf("E");
RobinN7 0:3af30bfbc3e5 42 //uart.printf("\n\r");
RobinN7 0:3af30bfbc3e5 43
RobinN7 0:3af30bfbc3e5 44 for (int j=indexMin; j<indexMax; j++)
RobinN7 0:3af30bfbc3e5 45 {
RobinN7 0:3af30bfbc3e5 46 if (pixel[j]>pixel[max_detect])
RobinN7 0:3af30bfbc3e5 47 {
RobinN7 0:3af30bfbc3e5 48 max_detect=j;
RobinN7 0:3af30bfbc3e5 49 }
RobinN7 6:a4e49784b533 50 }
RobinN7 6:a4e49784b533 51 // Réduction de la vitesse moteur si l'angle du servo augmente
RobinN7 6:a4e49784b533 52 if (max_detect>64)
RobinN7 6:a4e49784b533 53 {
RobinN7 6:a4e49784b533 54 consigne_moteur_1=6-(max_detect-64)/20.;
RobinN7 6:a4e49784b533 55 consigne_moteur_2=6-(max_detect-64)/15.;
RobinN7 0:3af30bfbc3e5 56 }
RobinN7 6:a4e49784b533 57 else
RobinN7 6:a4e49784b533 58 {
RobinN7 6:a4e49784b533 59 consigne_moteur_1=6-(64-max_detect)/15.;
RobinN7 6:a4e49784b533 60 consigne_moteur_2=6-(64-max_detect)/20.;
RobinN7 6:a4e49784b533 61 }
RobinN7 6:a4e49784b533 62 servo = 1.4*(double(max_detect)/128.-0.5)+0.5;
RobinN7 0:3af30bfbc3e5 63
RobinN7 0:3af30bfbc3e5 64 }
RobinN7 0:3af30bfbc3e5 65 }
RobinN7 0:3af30bfbc3e5 66