ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

main.cpp@76:a862cb10559c, 2016-05-05 (annotated)

Committer:
sype
Date:
Thu May 05 06:34:13 2016 +0000
Revision:
76:a862cb10559c
Parent:
75:195dd2bb13a3 
debuggage

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 41:b5a2fbc20beb 1 #include "func.h"
sype 76:a862cb10559c 2 #include "map.h"
sype 0:ad9600df4a70 3
Jagang 58:02dc8328975a 4 #include "ControlleurPince.h"
Jagang 58:02dc8328975a 5
sype 41:b5a2fbc20beb 6 /* Déclaration des différents éléments de l'IHM */
sype 46:5658af4e5149 7
sype 51:1056dd73a748 8 DigitalIn CAMP(PA_15);
sype 51:1056dd73a748 9 DigitalIn START(PB_7);
sype 46:5658af4e5149 10 DigitalOut LEDR(PC_2);
sype 46:5658af4e5149 11 DigitalOut LEDV(PC_3);
sype 46:5658af4e5149 12
sype 51:1056dd73a748 13 BusOut drapeau(PC_8, PC_6, PC_5);
sype 51:1056dd73a748 14
sype 10:ae3178aa94e9 15 InterruptIn mybutton(USER_BUTTON);
sype 10:ae3178aa94e9 16 DigitalIn button(USER_BUTTON);
sype 46:5658af4e5149 17
sype 46:5658af4e5149 18 DigitalIn ChannelA1(PA_1);
sype 46:5658af4e5149 19 DigitalIn ChannelB1(PA_0);
sype 46:5658af4e5149 20 DigitalIn ChannelA2(PA_5);
sype 46:5658af4e5149 21 DigitalIn ChannelB2(PA_6);
sype 46:5658af4e5149 22
sype 41:b5a2fbc20beb 23 DigitalOut bleu(PC_5);
sype 41:b5a2fbc20beb 24 DigitalOut blanc(PC_6);
sype 41:b5a2fbc20beb 25 DigitalOut rouge(PC_8);
sype 41:b5a2fbc20beb 26
IceTeam 75:195dd2bb13a3 27 AX12 left_hand(PA_9, PA_10, 3, 250000);
IceTeam 75:195dd2bb13a3 28 AX12 right_hand(PA_9, PA_10, 2, 250000);
sype 41:b5a2fbc20beb 29
sype 41:b5a2fbc20beb 30 /* Sharp */
sype 41:b5a2fbc20beb 31 AnalogIn capt1(PA_4);
sype 41:b5a2fbc20beb 32 AnalogIn capt2(PB_0);
sype 41:b5a2fbc20beb 33 AnalogIn capt3(PC_1);
sype 41:b5a2fbc20beb 34 AnalogIn capt4(PC_0);
sype 41:b5a2fbc20beb 35
sype 41:b5a2fbc20beb 36 /* Moteurs pas à pas */
Jagang 58:02dc8328975a 37 Stepper RMot(NC, PA_8, PC_7, PB_15, 4);
Jagang 58:02dc8328975a 38 Stepper ZMot(NC, PB_4, PB_10, PB_14, 5);
Jagang 58:02dc8328975a 39 Stepper LMot(NC, PB_5, PB_3, PB_13, 4);
sype 41:b5a2fbc20beb 40 /* Fins de course */
sype 41:b5a2fbc20beb 41 InterruptIn EndR(PB_15);
sype 41:b5a2fbc20beb 42 InterruptIn EndZ(PB_14);
sype 41:b5a2fbc20beb 43 InterruptIn EndL(PB_13);
sype 51:1056dd73a748 44 DigitalIn EnR(PB_15);
sype 51:1056dd73a748 45 DigitalIn EnZ(PB_14);
sype 51:1056dd73a748 46 DigitalIn EnL(PB_13);
sype 41:b5a2fbc20beb 47
sype 76:a862cb10559c 48 ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL, left_hand, right_hand);
Jagang 58:02dc8328975a 49
sype 0:ad9600df4a70 50 Ticker ticker;
IceTeam 47:be4eebf40568 51 //Serial logger(USBTX, USBRX);
sype 51:1056dd73a748 52 Serial logger(PA_2, PA_3);
sype 46:5658af4e5149 53 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
IceTeam 39:309f38d1e49c 54 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
sype 10:ae3178aa94e9 55
sype 51:1056dd73a748 56 int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
sype 51:1056dd73a748 57 bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false, SGauche = false, SDevant = false, SDroite = false;
sype 0:ad9600df4a70 58
sype 2:abdf8c6823a1 59 void init(void);
sype 46:5658af4e5149 60 void update_main(void);
sype 0:ad9600df4a70 61
sype 43:d5aaff7d2bec 62 /* Debut du programme */
sype 0:ad9600df4a70 63 int main(void)
sype 10:ae3178aa94e9 64 {
sype 49:5e2f7323f280 65 roboclaw.ForwardM1(0);
sype 49:5e2f7323f280 66 roboclaw.ForwardM2(0);
sype 76:a862cb10559c 67 roboclaw.ResetEnc();
sype 51:1056dd73a748 68
sype 76:a862cb10559c 69 init_interrupt();
sype 76:a862cb10559c 70 odo.setPos(110, 1000, 0);
sype 76:a862cb10559c 71 logger.printf("Depart homologation !\n\r");
sype 76:a862cb10559c 72 while(START != 1);
sype 76:a862cb10559c 73 logger.printf("GO !!\n\r");
sype 76:a862cb10559c 74 roboclaw.SpeedAccelDeccelPositionM1M2(accel_angle, vitesse_angle, deccel_angle, 10000, accel_angle, vitesse_angle, deccel_angle, 10000, 1);
sype 76:a862cb10559c 75 logger.printf("Faut avancer !!\n\r");
sype 76:a862cb10559c 76 while(1);
sype 76:a862cb10559c 77 //odo.GotoXY(1000, 1000);
sype 76:a862cb10559c 78 //odo.GotoXY(500, 1500);
sype 76:a862cb10559c 79
sype 2:abdf8c6823a1 80 }
sype 2:abdf8c6823a1 81
sype 2:abdf8c6823a1 82 void init(void)
sype 0:ad9600df4a70 83 {
sype 37:da3a2c781672 84 logger.baud(9600);
sype 37:da3a2c781672 85 logger.printf("Hello from main !\n\r");
sype 51:1056dd73a748 86
sype 44:b1fd7489369f 87 init_interrupt();
sype 76:a862cb10559c 88
sype 76:a862cb10559c 89 SCouleur = VERT;
sype 76:a862cb10559c 90 LEDV = 1;
sype 76:a862cb10559c 91 LEDR = 0;
sype 76:a862cb10559c 92
sype 76:a862cb10559c 93 odo.setPos(110, 1000, 0);
sype 76:a862cb10559c 94 roboclaw.ResetEnc();
sype 76:a862cb10559c 95 roboclaw.ForwardM1(0);
sype 76:a862cb10559c 96 roboclaw.ForwardM2(0);
sype 76:a862cb10559c 97 wait_ms(500);
sype 76:a862cb10559c 98 depart();
sype 76:a862cb10559c 99 wait_ms(100);
sype 76:a862cb10559c 100 while(START==0);
IceTeam 39:309f38d1e49c 101 logger.printf("End init\n\r");
sype 0:ad9600df4a70 102 }
sype 46:5658af4e5149 103
sype 46:5658af4e5149 104 void update_main(void)
sype 46:5658af4e5149 105 {
sype 49:5e2f7323f280 106 odo.update_odo();
sype 76:a862cb10559c 107 //checkAround();
sype 46:5658af4e5149 108 }