7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

Diff: source/main.cpp

Revision:
9:43c8e6d6724d
Parent:
8:8f886cd6a59f
Child:
10:3424e7b66671
--- a/source/main.cpp	Tue Jan 13 16:18:03 2015 +0000
+++ b/source/main.cpp	Tue Jan 13 16:43:40 2015 +0000
@@ -10,9 +10,10 @@
 
 //test de commit
 
-Serial uart(PTD3, PTD2);
+//Serial uart(PTD3, PTD2); //xbee
+Serial uart(USBTX, USBRX); //port série usb ACM0
 Servo servo(PTD0);
-
+AnalogIn pot1(PTC1);
 
 int main() {
  // Initialisation
@@ -20,6 +21,7 @@
     int indexMin=0;   
     int indexMax=128;  
     int max_detect=indexMin;
+    float Kp_servo = 0;
     uart.baud(115200); 
     init_led();
    
@@ -31,6 +33,7 @@
         
         readline();
         passebas();
+        derivation();
         
         uart.printf("S");//debug START
         for (int indice_pixel=0; indice_pixel<128; indice_pixel++)   
@@ -48,6 +51,9 @@
         }
         
         //servo = float(min_detect-indexMin)/float(indexMax-indexMin);
+        //lecture du potentiometre
+        Kp_servo=2.0*pot1.read_u16()/65000.0;
+        //
         servo = float(max_detect)/128.;
 
     }