ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

main.cpp@47:be4eebf40568, 2016-04-25 (annotated)

Committer:
IceTeam
Date:
Mon Apr 25 12:42:32 2016 +0000
Revision:
47:be4eebf40568
Parent:
45:b53ae54062c6
Child:
49:5e2f7323f280
Petit commit de batard;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 41:b5a2fbc20beb 1 #include "func.h"
IceTeam 47:be4eebf40568 2 #include "map.h"
sype 0:ad9600df4a70 3
sype 10:ae3178aa94e9 4 #define ATTENTE 0
sype 10:ae3178aa94e9 5 #define GO 1
sype 10:ae3178aa94e9 6 #define STOP 2
sype 0:ad9600df4a70 7
sype 41:b5a2fbc20beb 8 /* Déclaration des différents éléments de l'IHM */
sype 10:ae3178aa94e9 9 InterruptIn mybutton(USER_BUTTON);
sype 10:ae3178aa94e9 10 DigitalIn button(USER_BUTTON);
sype 2:abdf8c6823a1 11 DigitalOut led(LED1);
sype 41:b5a2fbc20beb 12 DigitalOut bleu(PC_5);
sype 41:b5a2fbc20beb 13 DigitalOut blanc(PC_6);
sype 41:b5a2fbc20beb 14 DigitalOut rouge(PC_8);
sype 41:b5a2fbc20beb 15
sype 41:b5a2fbc20beb 16 /* AX12 */
sype 41:b5a2fbc20beb 17 AX12 left_hand(PA_15, PB_7, 4, 250000);
sype 41:b5a2fbc20beb 18 AX12 right_hand(PA_15, PB_7, 1, 250000);
sype 41:b5a2fbc20beb 19
sype 41:b5a2fbc20beb 20 /* Sharp */
sype 41:b5a2fbc20beb 21 AnalogIn capt1(PA_4);
sype 41:b5a2fbc20beb 22 AnalogIn capt2(PB_0);
sype 41:b5a2fbc20beb 23 AnalogIn capt3(PC_1);
sype 41:b5a2fbc20beb 24 AnalogIn capt4(PC_0);
sype 41:b5a2fbc20beb 25
sype 41:b5a2fbc20beb 26 /* Moteurs pas à pas */
sype 41:b5a2fbc20beb 27 Stepper RMot(NC, PB_10, PA_8);
sype 41:b5a2fbc20beb 28 Stepper ZMot(NC, PB_5, PB_4);
sype 41:b5a2fbc20beb 29 Stepper LMot(NC, PB_3, PA_10);
sype 41:b5a2fbc20beb 30 /* Fins de course */
sype 41:b5a2fbc20beb 31 InterruptIn EndR(PB_15);
sype 41:b5a2fbc20beb 32 InterruptIn EndZ(PB_14);
sype 41:b5a2fbc20beb 33 InterruptIn EndL(PB_13);
sype 41:b5a2fbc20beb 34
sype 0:ad9600df4a70 35 Ticker ticker;
sype 41:b5a2fbc20beb 36
IceTeam 47:be4eebf40568 37 //Serial logger(USBTX, USBRX);
IceTeam 47:be4eebf40568 38 Serial logger(PA_9, PA_10);
sype 10:ae3178aa94e9 39 RoboClaw roboclaw(460800, PA_11, PA_12);
IceTeam 39:309f38d1e49c 40 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
sype 10:ae3178aa94e9 41
sype 41:b5a2fbc20beb 42 int i = 0, state = 0;
sype 41:b5a2fbc20beb 43 bool EL = false, EZ = false, ER = false;
sype 0:ad9600df4a70 44
sype 2:abdf8c6823a1 45 void init(void);
sype 0:ad9600df4a70 46
sype 43:d5aaff7d2bec 47 /* Debut du programme */
sype 0:ad9600df4a70 48 int main(void)
sype 10:ae3178aa94e9 49 {
IceTeam 47:be4eebf40568 50 init();
IceTeam 47:be4eebf40568 51
IceTeam 47:be4eebf40568 52 /*map m(&odo);
IceTeam 47:be4eebf40568 53 m.addObs(obsCarr (1250, 1000, 220, 220));
IceTeam 47:be4eebf40568 54 m.addObs(obsCarr (1500, 750, 220, 220));
IceTeam 47:be4eebf40568 55 m.addObs(obsCarr (1500, 1250, 220, 220));
IceTeam 47:be4eebf40568 56
IceTeam 47:be4eebf40568 57 m.Execute(1000,1000);
IceTeam 47:be4eebf40568 58 m.Execute(1500,1000);
IceTeam 47:be4eebf40568 59 m.Execute(1500,1500);
IceTeam 47:be4eebf40568 60 m.Execute(110,1000);
IceTeam 47:be4eebf40568 61
IceTeam 47:be4eebf40568 62 odo.GotoThet(0);
IceTeam 47:be4eebf40568 63
IceTeam 47:be4eebf40568 64 roboclaw.ForwardM1(ADR, 0);
IceTeam 47:be4eebf40568 65 roboclaw.ForwardM2(ADR, 0);
IceTeam 47:be4eebf40568 66
IceTeam 47:be4eebf40568 67 logger.printf ("Chemin Fini !");*/
IceTeam 47:be4eebf40568 68 odo.GotoXY(500,1000);
IceTeam 47:be4eebf40568 69 while (1);
sype 2:abdf8c6823a1 70 }
sype 2:abdf8c6823a1 71
sype 2:abdf8c6823a1 72 void init(void)
sype 0:ad9600df4a70 73 {
IceTeam 47:be4eebf40568 74 odo.setPos(110, 1000, 0);
sype 37:da3a2c781672 75 roboclaw.ForwardM1(ADR, 0);
sype 37:da3a2c781672 76 roboclaw.ForwardM2(ADR, 0);
sype 37:da3a2c781672 77 logger.baud(9600);
sype 37:da3a2c781672 78 logger.printf("Hello from main !\n\r");
IceTeam 47:be4eebf40568 79 bleu = 1, blanc = 1, rouge = 1;
sype 10:ae3178aa94e9 80 wait_ms(500);
sype 44:b1fd7489369f 81 bleu = 0, blanc = 0, rouge = 0;
sype 10:ae3178aa94e9 82
sype 10:ae3178aa94e9 83 while(button);
sype 10:ae3178aa94e9 84 wait(1);
sype 44:b1fd7489369f 85
sype 44:b1fd7489369f 86 init_ax12();
sype 44:b1fd7489369f 87 init_interrupt();
sype 41:b5a2fbc20beb 88 wait_ms(100);
IceTeam 39:309f38d1e49c 89 logger.printf("End init\n\r");
sype 0:ad9600df4a70 90 }