7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

source/main.cpp

Committer:
RobinN7
Date:
2015-01-13
Revision:
6:a4e49784b533
Parent:
5:4d1a524433ca
Child:
12:3384196374ca

File content as of revision 6:a4e49784b533:


//Bibliothéque
#include "mbed.h"
#include "QEI.h"
#include "Gestion_Moteur.h"
#include "Camera.h"
#include "Servo.h"

//Differents objet/variable global

//test de commit

Serial uart(PTD3, PTD2);
Servo servo(PTD0);


int main() {
 // Initialisation
 
    int indexMin=0;   
    int indexMax=128;  
    int max_detect=indexMin;
    uart.baud(115200); 
    init_led();
   
    // Init UART baudrate

         
    // Lancement boucle
    while(1){
        
        readline();
        
        passebas();
        
        uart.printf("S");
        for (int indice_pixel=0; indice_pixel<128; indice_pixel++)   
        {
            uart.printf("%d,",pixel[indice_pixel]);
        }
        uart.printf("E");
        //uart.printf("\n\r");
        
        for (int j=indexMin; j<indexMax; j++)
        {
            if (pixel[j]>pixel[max_detect])
            {
                max_detect=j;
            }
        }    
        // Réduction de la vitesse moteur si l'angle du servo augmente
        if (max_detect>64)
        {
            consigne_moteur_1=6-(max_detect-64)/20.;
            consigne_moteur_2=6-(max_detect-64)/15.;
        }
        else
        {
            consigne_moteur_1=6-(64-max_detect)/15.;
            consigne_moteur_2=6-(64-max_detect)/20.; 
        }
        servo = 1.4*(double(max_detect)/128.-0.5)+0.5;

    }
}