ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

main.cpp@77:f19cc7f81f2a, 2016-05-05 (annotated)

Committer:
sype
Date:
Thu May 05 08:46:08 2016 +0000
Revision:
77:f19cc7f81f2a
Parent:
51:1056dd73a748 
commit homologation

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 41:b5a2fbc20beb 4 /* Déclaration des différents éléments de l'IHM */
sype 46:5658af4e5149 5
sype 51:1056dd73a748 6 DigitalIn CAMP(PA_15);
sype 51:1056dd73a748 7 DigitalIn START(PB_7);
sype 46:5658af4e5149 8 DigitalOut LEDR(PC_2);
sype 46:5658af4e5149 9 DigitalOut LEDV(PC_3);
sype 46:5658af4e5149 10
sype 51:1056dd73a748 11 BusOut drapeau(PC_8, PC_6, PC_5);
sype 51:1056dd73a748 12
sype 10:ae3178aa94e9 13 InterruptIn mybutton(USER_BUTTON);
sype 10:ae3178aa94e9 14 DigitalIn button(USER_BUTTON);
sype 46:5658af4e5149 15
sype 46:5658af4e5149 16 DigitalIn ChannelA1(PA_1);
sype 46:5658af4e5149 17 DigitalIn ChannelB1(PA_0);
sype 46:5658af4e5149 18 DigitalIn ChannelA2(PA_5);
sype 46:5658af4e5149 19 DigitalIn ChannelB2(PA_6);
sype 46:5658af4e5149 20
sype 41:b5a2fbc20beb 21 DigitalOut bleu(PC_5);
sype 41:b5a2fbc20beb 22 DigitalOut blanc(PC_6);
sype 41:b5a2fbc20beb 23 DigitalOut rouge(PC_8);
sype 41:b5a2fbc20beb 24
sype 48:03da1aead032 25 //AX12 left_hand(PA_9, PA_10, 4, 250000);
sype 48:03da1aead032 26 //AX12 right_hand(PA_9, PA_10, 1, 250000);
sype 41:b5a2fbc20beb 27
sype 41:b5a2fbc20beb 28 /* Sharp */
sype 41:b5a2fbc20beb 29 AnalogIn capt1(PA_4);
sype 41:b5a2fbc20beb 30 AnalogIn capt2(PB_0);
sype 41:b5a2fbc20beb 31 AnalogIn capt3(PC_1);
sype 41:b5a2fbc20beb 32 AnalogIn capt4(PC_0);
sype 41:b5a2fbc20beb 33
sype 41:b5a2fbc20beb 34 /* Moteurs pas à pas */
sype 51:1056dd73a748 35 Stepper RMot(NC, PA_8, PC_7, 4);
sype 51:1056dd73a748 36 Stepper ZMot(NC, PB_4, PB_10, 5);
sype 51:1056dd73a748 37 Stepper LMot(NC, PB_5, PB_3, 4);
sype 41:b5a2fbc20beb 38 /* Fins de course */
sype 41:b5a2fbc20beb 39 InterruptIn EndR(PB_15);
sype 41:b5a2fbc20beb 40 InterruptIn EndZ(PB_14);
sype 41:b5a2fbc20beb 41 InterruptIn EndL(PB_13);
sype 51:1056dd73a748 42 DigitalIn EnR(PB_15);
sype 51:1056dd73a748 43 DigitalIn EnZ(PB_14);
sype 51:1056dd73a748 44 DigitalIn EnL(PB_13);
sype 41:b5a2fbc20beb 45
sype 0:ad9600df4a70 46 Ticker ticker;
IceTeam 47:be4eebf40568 47 //Serial logger(USBTX, USBRX);
sype 51:1056dd73a748 48 Serial logger(PA_2, PA_3);
sype 46:5658af4e5149 49 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
IceTeam 39:309f38d1e49c 50 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
sype 10:ae3178aa94e9 51
sype 51:1056dd73a748 52 int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
sype 51:1056dd73a748 53 bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false, SGauche = false, SDevant = false, SDroite = false;
sype 77:f19cc7f81f2a 54 bool Sharps_actives = true; bool SHomologation = false;
sype 0:ad9600df4a70 55
sype 2:abdf8c6823a1 56 void init(void);
sype 46:5658af4e5149 57 void update_main(void);
sype 0:ad9600df4a70 58
sype 43:d5aaff7d2bec 59 /* Debut du programme */
sype 0:ad9600df4a70 60 int main(void)
sype 10:ae3178aa94e9 61 {
sype 77:f19cc7f81f2a 62 /*logger.printf("Depart homologation !\n\r");
sype 77:f19cc7f81f2a 63 LEDV = 1;
sype 77:f19cc7f81f2a 64 LEDR = 0;
sype 77:f19cc7f81f2a 65 odo.setPos(110, 1000, 0);
sype 77:f19cc7f81f2a 66 roboclaw.ResetEnc();
sype 77:f19cc7f81f2a 67 roboclaw.ForwardM1(0);
sype 77:f19cc7f81f2a 68 roboclaw.ForwardM2(0);
sype 77:f19cc7f81f2a 69 wait_ms(100);
sype 77:f19cc7f81f2a 70 while(START==0);
sype 77:f19cc7f81f2a 71 odo.GotoXY(1000, 1000);*/
sype 77:f19cc7f81f2a 72 odo.setPos(110,850,0);
sype 77:f19cc7f81f2a 73 init_interrupt();
sype 77:f19cc7f81f2a 74 while(START==0);
sype 77:f19cc7f81f2a 75 odo.GotoXY(450,850);
sype 77:f19cc7f81f2a 76 odo.GotoXY(1050,1100);
sype 77:f19cc7f81f2a 77 odo.GotoXY(700,1100);
sype 77:f19cc7f81f2a 78 SHomologation = true;
sype 77:f19cc7f81f2a 79 odo.GotoXY(250,850);
sype 77:f19cc7f81f2a 80 odo.GotoXY(250,400);
sype 77:f19cc7f81f2a 81 odo.GotoXY(800,400);
sype 77:f19cc7f81f2a 82 odo.GotoXY(800,800);
sype 77:f19cc7f81f2a 83
sype 77:f19cc7f81f2a 84 LEDV = 1;
sype 77:f19cc7f81f2a 85 while(1);
sype 77:f19cc7f81f2a 86 //homologation();
sype 51:1056dd73a748 87 /*drapeau = 0;
sype 51:1056dd73a748 88 init();
sype 51:1056dd73a748 89
sype 51:1056dd73a748 90 map m(&odo);
IceTeam 47:be4eebf40568 91 m.addObs(obsCarr (1250, 1000, 220, 220));
IceTeam 47:be4eebf40568 92 m.addObs(obsCarr (1500, 750, 220, 220));
IceTeam 47:be4eebf40568 93 m.addObs(obsCarr (1500, 1250, 220, 220));
sype 51:1056dd73a748 94
IceTeam 47:be4eebf40568 95 m.Execute(1000,1000);
IceTeam 47:be4eebf40568 96 m.Execute(1500,1000);
IceTeam 47:be4eebf40568 97 m.Execute(1500,1500);
IceTeam 47:be4eebf40568 98 m.Execute(110,1000);
sype 51:1056dd73a748 99
IceTeam 47:be4eebf40568 100 odo.GotoThet(0);
sype 49:5e2f7323f280 101 roboclaw.ForwardM1(0);
sype 49:5e2f7323f280 102 roboclaw.ForwardM2(0);
sype 51:1056dd73a748 103 logger.printf ("Chemin Fini !");
sype 51:1056dd73a748 104
sype 51:1056dd73a748 105 while(1);*/
sype 2:abdf8c6823a1 106 }
sype 2:abdf8c6823a1 107
sype 2:abdf8c6823a1 108 void init(void)
sype 0:ad9600df4a70 109 {
sype 37:da3a2c781672 110 logger.baud(9600);
sype 37:da3a2c781672 111 logger.printf("Hello from main !\n\r");
sype 51:1056dd73a748 112
sype 51:1056dd73a748 113 init_interrupt();
sype 51:1056dd73a748 114 goHome();
sype 51:1056dd73a748 115
sype 51:1056dd73a748 116 SCouleur = VERT;
sype 51:1056dd73a748 117 LEDV = 1;
sype 51:1056dd73a748 118 LEDR = 0;
sype 51:1056dd73a748 119
sype 49:5e2f7323f280 120 odo.setPos(110, 1000, 0);
sype 51:1056dd73a748 121 roboclaw.ResetEnc();
sype 46:5658af4e5149 122 roboclaw.ForwardM1(0);
sype 51:1056dd73a748 123 roboclaw.ForwardM2(0);
sype 10:ae3178aa94e9 124 wait_ms(500);
sype 51:1056dd73a748 125 while(1);
sype 51:1056dd73a748 126 //depart();
sype 44:b1fd7489369f 127 init_interrupt();
sype 41:b5a2fbc20beb 128 wait_ms(100);
sype 51:1056dd73a748 129 while(START==0);
IceTeam 39:309f38d1e49c 130 logger.printf("End init\n\r");
sype 0:ad9600df4a70 131 }
sype 46:5658af4e5149 132
sype 46:5658af4e5149 133 void update_main(void)
sype 46:5658af4e5149 134 {
sype 49:5e2f7323f280 135 odo.update_odo();
sype 51:1056dd73a748 136 checkAround();
sype 46:5658af4e5149 137 }