7Robot_Freescale / Mbed 2 deprecated freescal_cup_k22f

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Dependencies:   mbed freescal_cup_k22f

Dependents:   freescal_cup_k22f

source/main.cpp@22:b5a3688e144b, 2015-01-17 (annotated)

Committer:
RobinN7
Date:
Sat Jan 17 18:06:33 2015 +0000
Revision:
22:b5a3688e144b
Parent:
21:9430357e777c
Child:
23:fa834aa184e0
d?riv?e

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;
RobinN7 21:9430357e777c 22 int indexMax=127;
AlexandreN7 20:24ebe046ebe9 23 int compteur_uart=0;
RobinN7 21:9430357e777c 24 int max_detect1=indexMin;
RobinN7 22:b5a3688e144b 25 int min_detect2=indexMin;
RobinN7 22:b5a3688e144b 26 int max_detect=(max_detect1+min_detect2)/2;
AlexandreN7 9:43c8e6d6724d 27 float Kp_servo = 0;
RobinN7 0:3af30bfbc3e5 28 uart.baud(115200);
RobinN7 0:3af30bfbc3e5 29 init_led();
RobinN7 0:3af30bfbc3e5 30
RobinN7 0:3af30bfbc3e5 31 // Init UART baudrate
RobinN7 0:3af30bfbc3e5 32
RobinN7 0:3af30bfbc3e5 33
RobinN7 0:3af30bfbc3e5 34 // Lancement boucle
RobinN7 0:3af30bfbc3e5 35 while(1){
RobinN7 0:3af30bfbc3e5 36
RobinN7 0:3af30bfbc3e5 37 readline();
RobinN7 22:b5a3688e144b 38 passebas(10);
RobinN7 22:b5a3688e144b 39 derivation();
RobinN7 15:b77dc649e4f3 40 //passebas(4);
RobinN7 15:b77dc649e4f3 41
AlexandreN7 20:24ebe046ebe9 42
AlexandreN7 20:24ebe046ebe9 43 if (compteur_uart ==50) // on envoit une trame toute les 50 acquisitions de cameras
AlexandreN7 20:24ebe046ebe9 44 {
AlexandreN7 20:24ebe046ebe9 45 uart.printf("S1");//debug START
AlexandreN7 20:24ebe046ebe9 46 for (int indice_pixel=0; indice_pixel<128; indice_pixel++)
AlexandreN7 20:24ebe046ebe9 47 {
AlexandreN7 20:24ebe046ebe9 48 uart.printf("%d,",pixel1[indice_pixel]);
AlexandreN7 20:24ebe046ebe9 49 }
AlexandreN7 20:24ebe046ebe9 50 uart.printf("E");//debug END
AlexandreN7 20:24ebe046ebe9 51
AlexandreN7 20:24ebe046ebe9 52 uart.printf("S2");//debug START
AlexandreN7 20:24ebe046ebe9 53 for (int indice_pixel=0; indice_pixel<128; indice_pixel++)
AlexandreN7 20:24ebe046ebe9 54 {
AlexandreN7 20:24ebe046ebe9 55 uart.printf("%d,",pixel2[indice_pixel]);
AlexandreN7 20:24ebe046ebe9 56 }
AlexandreN7 20:24ebe046ebe9 57 uart.printf("E");//debug END
AlexandreN7 20:24ebe046ebe9 58 compteur_uart =0;
RobinN7 0:3af30bfbc3e5 59 }
AlexandreN7 20:24ebe046ebe9 60 else {
AlexandreN7 20:24ebe046ebe9 61 compteur_uart =compteur_uart+1;
AlexandreN7 20:24ebe046ebe9 62 }
RobinN7 0:3af30bfbc3e5 63
RobinN7 22:b5a3688e144b 64 max_detect1=indexMin;
RobinN7 22:b5a3688e144b 65 min_detect2=indexMin;
RobinN7 22:b5a3688e144b 66
RobinN7 21:9430357e777c 67 for (int j=indexMin; j<=indexMax; j++)
RobinN7 0:3af30bfbc3e5 68 {
RobinN7 22:b5a3688e144b 69 if (pixel1[j]>pixel1[max_detect1])
RobinN7 0:3af30bfbc3e5 70 {
RobinN7 21:9430357e777c 71 max_detect1=j;
RobinN7 0:3af30bfbc3e5 72 }
RobinN7 22:b5a3688e144b 73 }
RobinN7 22:b5a3688e144b 74 for (int j=indexMin; j<=indexMax; j++)
RobinN7 22:b5a3688e144b 75 {
RobinN7 22:b5a3688e144b 76 if (pixel1[j]<pixel2[min_detect2])
RobinN7 21:9430357e777c 77 {
RobinN7 22:b5a3688e144b 78 min_detect2=j;
RobinN7 21:9430357e777c 79 }
RobinN7 21:9430357e777c 80 }
RobinN7 22:b5a3688e144b 81 max_detect=(max_detect1+min_detect2)/2;
RobinN7 14:000be67805b2 82 // Réduction proportionelle de la vitesse moteur si l'angle du servo augmente
RobinN7 6:a4e49784b533 83 if (max_detect>64)
RobinN7 6:a4e49784b533 84 {
RobinN7 15:b77dc649e4f3 85 consigne_moteur_1=6*(1-(max_detect-64)/150.);
RobinN7 15:b77dc649e4f3 86 consigne_moteur_2=6*(1-(max_detect-64)/100.);
RobinN7 0:3af30bfbc3e5 87 }
RobinN7 6:a4e49784b533 88 else
RobinN7 6:a4e49784b533 89 {
RobinN7 15:b77dc649e4f3 90 consigne_moteur_1=7*(1-(64-max_detect)/100.);
RobinN7 15:b77dc649e4f3 91 consigne_moteur_2=7*(1-(64-max_detect)/150.);
RobinN7 6:a4e49784b533 92 }
RobinN7 13:61c50db20069 93 // Lecture du potentiometre
RobinN7 13:61c50db20069 94 Kp_servo=2.0*pot1.read_u16()/65000.0;
RobinN7 13:61c50db20069 95
RobinN7 13:61c50db20069 96 servo = Kp_servo*(double(max_detect)/128.-0.5)+0.5;
RobinN7 0:3af30bfbc3e5 97
AlexandreN7 12:3384196374ca 98
RobinN7 0:3af30bfbc3e5 99 }
RobinN7 0:3af30bfbc3e5 100 }
RobinN7 0:3af30bfbc3e5 101