ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Functions/func.cpp@48:03da1aead032, 2016-04-28 (annotated)

Committer:
sype
Date:
Thu Apr 28 08:11:25 2016 +0000
Revision:
48:03da1aead032
Parent:
46:5658af4e5149
Child:
51:1056dd73a748
Int?gration de "l'algo" carte boutons, maintenant le bouton bleu (utilisateur) est remplac? par le jumper pr?sent sur la carte (on le retire pour d?marrer) et le changement de camp du robot se fait par le bouton pr?sent sur cette carte

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 41:b5a2fbc20beb 1 #include "func.h"
sype 41:b5a2fbc20beb 2
sype 41:b5a2fbc20beb 3 void pressed(void)
sype 41:b5a2fbc20beb 4 {
sype 46:5658af4e5149 5 if(SIMON_i==0) {
sype 46:5658af4e5149 6 roboclaw.ForwardM1(0);
sype 46:5658af4e5149 7 roboclaw.ForwardM2(0);
sype 46:5658af4e5149 8 SIMON_i++;
sype 41:b5a2fbc20beb 9 }
sype 41:b5a2fbc20beb 10 }
sype 41:b5a2fbc20beb 11
sype 41:b5a2fbc20beb 12 void unpressed(void)
sype 41:b5a2fbc20beb 13 {
sype 46:5658af4e5149 14 if(SIMON_i==1) {
sype 46:5658af4e5149 15 SIMON_i--;
sype 41:b5a2fbc20beb 16 }
sype 41:b5a2fbc20beb 17 }
sype 41:b5a2fbc20beb 18
sype 41:b5a2fbc20beb 19 void ELpressed(void)
sype 41:b5a2fbc20beb 20 {
sype 46:5658af4e5149 21 bleu = 1;
sype 46:5658af4e5149 22 SIMON_EL = true;
sype 41:b5a2fbc20beb 23 }
sype 41:b5a2fbc20beb 24 void ELunpressed(void)
sype 41:b5a2fbc20beb 25 {
sype 46:5658af4e5149 26 bleu = 0;
sype 46:5658af4e5149 27 SIMON_EL = false;
sype 41:b5a2fbc20beb 28 }
sype 41:b5a2fbc20beb 29
sype 41:b5a2fbc20beb 30 void EZpressed(void)
sype 41:b5a2fbc20beb 31 {
sype 46:5658af4e5149 32 blanc = 1;
sype 46:5658af4e5149 33 SIMON_EZ = true;
sype 41:b5a2fbc20beb 34 }
sype 41:b5a2fbc20beb 35 void EZunpressed(void)
sype 41:b5a2fbc20beb 36 {
sype 46:5658af4e5149 37 blanc = 0;
sype 46:5658af4e5149 38 SIMON_EZ = false;
sype 41:b5a2fbc20beb 39 }
sype 41:b5a2fbc20beb 40
sype 41:b5a2fbc20beb 41 void ERpressed(void)
sype 41:b5a2fbc20beb 42 {
sype 46:5658af4e5149 43 rouge = 1;
sype 46:5658af4e5149 44 SIMON_ER = true;
sype 41:b5a2fbc20beb 45 }
sype 41:b5a2fbc20beb 46 void ERunpressed(void)
sype 41:b5a2fbc20beb 47 {
sype 46:5658af4e5149 48 rouge = 0;
sype 46:5658af4e5149 49 SIMON_ER = 0;
sype 41:b5a2fbc20beb 50 }
sype 41:b5a2fbc20beb 51
sype 41:b5a2fbc20beb 52 void JPO(void)
sype 41:b5a2fbc20beb 53 {
sype 41:b5a2fbc20beb 54 char c = logger.getc();
sype 41:b5a2fbc20beb 55 if(c=='z') {
sype 46:5658af4e5149 56 if (SIMON_state != 1) {
sype 46:5658af4e5149 57 SIMON_state = 1;
sype 41:b5a2fbc20beb 58 logger.printf("Avant (Z) \r\n");
sype 46:5658af4e5149 59 roboclaw.SpeedAccelM1(accel_angle, vitesse_angle);
sype 46:5658af4e5149 60 roboclaw.SpeedAccelM2(accel_angle, vitesse_angle);
sype 41:b5a2fbc20beb 61 }
sype 41:b5a2fbc20beb 62 } else if(c == 's') {
sype 46:5658af4e5149 63 if (SIMON_state != 2) {
sype 46:5658af4e5149 64 SIMON_state = 2;
sype 41:b5a2fbc20beb 65 logger.printf("Stop (S) \r\n");
sype 46:5658af4e5149 66 roboclaw.SpeedAccelM1(accel_angle, 0);
sype 46:5658af4e5149 67 roboclaw.SpeedAccelM2(accel_angle, 0);
sype 41:b5a2fbc20beb 68 }
sype 41:b5a2fbc20beb 69 } else if(c == 'd') {
sype 46:5658af4e5149 70 if (SIMON_state != 3) {
sype 46:5658af4e5149 71 SIMON_state = 3;
sype 41:b5a2fbc20beb 72 logger.printf("Droite (D) \r\n");
sype 46:5658af4e5149 73 roboclaw.SpeedAccelM1(accel_angle, -vitesse_angle);
sype 46:5658af4e5149 74 roboclaw.SpeedAccelM2(accel_angle, vitesse_angle);
sype 41:b5a2fbc20beb 75 }
sype 41:b5a2fbc20beb 76 } else if(c == 'q') {
sype 46:5658af4e5149 77 if (SIMON_state != 4) {
sype 46:5658af4e5149 78 SIMON_state = 4;
sype 41:b5a2fbc20beb 79 logger.printf("Gauche (Q)\r\n");
sype 46:5658af4e5149 80 roboclaw.SpeedAccelM1(accel_angle, vitesse_angle);
sype 46:5658af4e5149 81 roboclaw.SpeedAccelM2(accel_angle, -vitesse_angle);
sype 41:b5a2fbc20beb 82 }
sype 41:b5a2fbc20beb 83 } else if(c == 'x') {
sype 46:5658af4e5149 84 if (SIMON_state != 5) {
sype 46:5658af4e5149 85 SIMON_state = 5;
sype 46:5658af4e5149 86 roboclaw.SpeedAccelM1(accel_angle, -vitesse_angle);
sype 46:5658af4e5149 87 roboclaw.SpeedAccelM2(accel_angle, -vitesse_angle);
sype 41:b5a2fbc20beb 88 }
sype 41:b5a2fbc20beb 89 } else {
sype 46:5658af4e5149 90 if (SIMON_state != 0) {
sype 46:5658af4e5149 91 roboclaw.SpeedAccelM1M2(accel_angle, 0, accel_angle, 0);
sype 46:5658af4e5149 92 SIMON_state = 0;
sype 41:b5a2fbc20beb 93 }
sype 41:b5a2fbc20beb 94 }
sype 41:b5a2fbc20beb 95 }
sype 41:b5a2fbc20beb 96
sype 41:b5a2fbc20beb 97 void goHome(void)
sype 41:b5a2fbc20beb 98 {
sype 46:5658af4e5149 99 //while(EZ==false) ZMot.step(1, 0, DELAY);
sype 46:5658af4e5149 100 while(SIMON_ER==false) RMot.step(1, 0, DELAY);
sype 46:5658af4e5149 101 RMot.step(10, 1, DELAY+0.01);
sype 41:b5a2fbc20beb 102 RMot.step(5, 0, DELAY);
sype 46:5658af4e5149 103 while(SIMON_EL==false) LMot.step(1, 0, DELAY);
sype 46:5658af4e5149 104 LMot.step(10, 1, DELAY+0.01);
sype 41:b5a2fbc20beb 105 LMot.step(5, 0, DELAY);
sype 41:b5a2fbc20beb 106 }
sype 41:b5a2fbc20beb 107
sype 41:b5a2fbc20beb 108 void checkAround(void)
sype 41:b5a2fbc20beb 109 {
sype 41:b5a2fbc20beb 110 if(capt1 > SEUIL+0.1) bleu = 1;
sype 41:b5a2fbc20beb 111 else bleu = 0;
sype 41:b5a2fbc20beb 112 if(capt2 > SEUIL) blanc = 1;
sype 41:b5a2fbc20beb 113 else blanc = 0;
sype 41:b5a2fbc20beb 114 if(capt3 > SEUIL+0.1) rouge = 1;
sype 41:b5a2fbc20beb 115 else rouge = 0;
sype 41:b5a2fbc20beb 116 }
sype 41:b5a2fbc20beb 117
sype 48:03da1aead032 118 /*void init_ax12(void)
sype 41:b5a2fbc20beb 119 {
sype 41:b5a2fbc20beb 120 left_hand.setMode(0);
sype 41:b5a2fbc20beb 121 wait_ms(10);
sype 41:b5a2fbc20beb 122 right_hand.setMode(0);
sype 41:b5a2fbc20beb 123 wait_ms(50);
sype 41:b5a2fbc20beb 124 left_hand.setMode(0);
sype 41:b5a2fbc20beb 125 wait_ms(10);
sype 41:b5a2fbc20beb 126 right_hand.setMode(0);
sype 41:b5a2fbc20beb 127 wait_ms(50);
sype 41:b5a2fbc20beb 128 right_hand.setGoal(0);
sype 41:b5a2fbc20beb 129 left_hand.setGoal(0);
sype 41:b5a2fbc20beb 130 wait(2);
sype 41:b5a2fbc20beb 131 right_hand.setGoal(180);
sype 41:b5a2fbc20beb 132 left_hand.setGoal(180);
sype 41:b5a2fbc20beb 133 wait(2);
sype 48:03da1aead032 134 }*/
sype 44:b1fd7489369f 135
sype 44:b1fd7489369f 136 void init_interrupt(void)
sype 44:b1fd7489369f 137 {
sype 46:5658af4e5149 138 CAMP.fall(&changeCamp);
sype 48:03da1aead032 139 START.rise(&go);
sype 44:b1fd7489369f 140 mybutton.fall(&pressed);
sype 44:b1fd7489369f 141 mybutton.rise(&unpressed);
sype 44:b1fd7489369f 142 EndL.fall(&ELpressed);
sype 44:b1fd7489369f 143 EndL.rise(&ELunpressed);
sype 44:b1fd7489369f 144 EndZ.fall(&EZpressed);
sype 44:b1fd7489369f 145 EndZ.rise(&EZunpressed);
sype 44:b1fd7489369f 146 EndR.fall(&ERpressed);
sype 44:b1fd7489369f 147 EndR.rise(&ERunpressed);
sype 48:03da1aead032 148 ticker.attach_us(&update_main, dt); // 100 Hz
sype 46:5658af4e5149 149 }
sype 46:5658af4e5149 150
sype 46:5658af4e5149 151 void changeCamp(void)
sype 46:5658af4e5149 152 {
sype 48:03da1aead032 153 if(SCouleur==VERT) {
sype 48:03da1aead032 154 SCouleur = VIOLET;
sype 48:03da1aead032 155 LEDR = 1;
sype 48:03da1aead032 156 LEDV = 0;
sype 48:03da1aead032 157 }
sype 48:03da1aead032 158 else {
sype 48:03da1aead032 159 SCouleur = VERT;
sype 48:03da1aead032 160 LEDV = 1;
sype 48:03da1aead032 161 LEDR = 0;
sype 48:03da1aead032 162 }
sype 46:5658af4e5149 163 }
sype 46:5658af4e5149 164
sype 48:03da1aead032 165 void go(void)
sype 45:b53ae54062c6 166 {
sype 48:03da1aead032 167 SStart = 1;
sype 41:b5a2fbc20beb 168 }