Diff: main.cpp

Revision:

51:1056dd73a748

Parent:

49:5e2f7323f280

Child:

53:bef06d5e827d

Child:

77:f19cc7f81f2a

--- a/main.cpp	Mon May 02 08:35:56 2016 +0000
+++ b/main.cpp	Wed May 04 16:15:13 2016 +0000
@@ -3,11 +3,13 @@
 
 /* Déclaration des différents éléments de l'IHM */
 
-InterruptIn CAMP(PA_15);
-InterruptIn START(PB_7);
+DigitalIn CAMP(PA_15);
+DigitalIn START(PB_7);
 DigitalOut LEDR(PC_2);
 DigitalOut LEDV(PC_3);
 
+BusOut drapeau(PC_8, PC_6, PC_5);
+
 InterruptIn mybutton(USER_BUTTON);
 DigitalIn button(USER_BUTTON);
 
@@ -20,7 +22,6 @@
 DigitalOut blanc(PC_6);
 DigitalOut rouge(PC_8);
 
-/* AX12 - non fonctionnels, je pense que le souci vient de la bibliothèque car la trame n'est pas correcte (analyseur logique) */
 //AX12 left_hand(PA_9, PA_10, 4, 250000);
 //AX12 right_hand(PA_9, PA_10, 1, 250000);
 
@@ -31,22 +32,25 @@
 AnalogIn capt4(PC_0);
 
 /* Moteurs pas à pas */
-Stepper RMot(NC, PA_8, PC_7);
-Stepper ZMot(NC, PB_4, PB_10);
-Stepper LMot(NC, PB_5, PB_3);
+Stepper RMot(NC, PA_8, PC_7, 4);
+Stepper ZMot(NC, PB_4, PB_10, 5);
+Stepper LMot(NC, PB_5, PB_3, 4);
 /* Fins de course */
 InterruptIn EndR(PB_15);
 InterruptIn EndZ(PB_14);
 InterruptIn EndL(PB_13);
+DigitalIn EnR(PB_15);
+DigitalIn EnZ(PB_14);
+DigitalIn EnL(PB_13);
 
 Ticker ticker;
 //Serial logger(USBTX, USBRX);
-Serial logger(PA_9, PA_10);
+Serial logger(PA_2, PA_3);
 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
 
-int SIMON_i = 0, SIMON_state = 0, SCouleur = 1, SStart = 0;
-bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false;
+int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
+bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false, SGauche = false, SDevant = false, SDroite = false;
 
 void init(void);
 void update_main(void);
@@ -54,52 +58,56 @@
 /* Debut du programme */
 int main(void)
 {
-    init();    
-    
-    /*map m(&odo);
+    logger.printf("Depart homologation !\n\r");
+    homologation();
+    /*drapeau = 0;
+    init();
+
+    map m(&odo);
     m.addObs(obsCarr (1250, 1000, 220, 220));
     m.addObs(obsCarr (1500, 750, 220, 220));
     m.addObs(obsCarr (1500, 1250, 220, 220));
-    
+
     m.Execute(1000,1000);
     m.Execute(1500,1000);
     m.Execute(1500,1500);
     m.Execute(110,1000);
-    
+
     odo.GotoThet(0);
     roboclaw.ForwardM1(0);
     roboclaw.ForwardM2(0);
-    
-    logger.printf ("Chemin Fini !");*/
-    while(1);
+    logger.printf ("Chemin Fini !");
+
+    while(1);*/
 }
 
 void init(void)
 {
     logger.baud(9600);
     logger.printf("Hello from main !\n\r");
-    
-    bleu = 1, blanc = 1, rouge = 1;
-    
+
+    init_interrupt();
+    goHome();
+
+    SCouleur = VERT;
+    LEDV = 1;
+    LEDR = 0;
+
     odo.setPos(110, 1000, 0);
-    
+    roboclaw.ResetEnc();
     roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);    
+    roboclaw.ForwardM2(0);
     wait_ms(500);
-    
-    bleu = 0, blanc = 0, rouge = 0;
-    
-    while(SStart==0);
-    
-    roboclaw.ResetEnc();
+    while(1);
+    //depart();
     init_interrupt();
     wait_ms(100);
-    
+    while(START==0);
     logger.printf("End init\n\r");
 }
 
 void update_main(void)
 {
     odo.update_odo();
-    //checkAround();
+    checkAround();
 }
\ No newline at end of file