Diff: main.cpp

Revision:

46:5658af4e5149

Parent:

45:b53ae54062c6

Child:

48:03da1aead032

--- a/main.cpp	Wed Apr 13 12:47:47 2016 +0000
+++ b/main.cpp	Mon Apr 25 12:38:58 2016 +0000
@@ -3,18 +3,32 @@
 #define ATTENTE 0
 #define GO 1
 #define STOP 2
+#define ADR 0x80
+#define dt 10000
 
 /* Déclaration des différents éléments de l'IHM */
+
+/* Carte boutons, la NUCLEO n'arrive pas à récupérer les signaux CAMP et START */
+InterruptIn CAMP(PH_0);
+InterruptIn START(PH_1);
+DigitalOut LEDR(PC_2);
+DigitalOut LEDV(PC_3);
+
 InterruptIn mybutton(USER_BUTTON);
 DigitalIn button(USER_BUTTON);
-DigitalOut led(LED1);
+
+DigitalIn ChannelA1(PA_1);
+DigitalIn ChannelB1(PA_0);
+DigitalIn ChannelA2(PA_5);
+DigitalIn ChannelB2(PA_6);
+
 DigitalOut bleu(PC_5);
 DigitalOut blanc(PC_6);
 DigitalOut rouge(PC_8);
 
-/* AX12 */
-AX12 left_hand(PA_15, PB_7, 4, 250000);
-AX12 right_hand(PA_15, PB_7, 1, 250000);
+/* 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);
 
 /* Sharp */
 AnalogIn capt1(PA_4);
@@ -23,9 +37,9 @@
 AnalogIn capt4(PC_0);
 
 /* Moteurs pas à pas */
-Stepper RMot(NC, PB_10, PA_8);
-Stepper ZMot(NC, PB_5, PB_4);
-Stepper LMot(NC, PB_3, PA_10);
+Stepper RMot(NC, PA_8, PC_7);
+Stepper ZMot(NC, PB_4, PB_10);
+Stepper LMot(NC, PB_5, PB_3);
 /* Fins de course */
 InterruptIn EndR(PB_15);
 InterruptIn EndZ(PB_14);
@@ -34,14 +48,15 @@
 Ticker ticker;
 
 Serial logger(USBTX, USBRX);
-//Serial logger(PA_9, PA_10);
-RoboClaw roboclaw(460800, PA_11, PA_12);
+//Serial logger(PA_2, PA_3);
+RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
 
-int i = 0, state = 0;
-bool EL = false, EZ = false, ER = false;
+int SIMON_i = 0, SIMON_state = 0;
+bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false;
 
 void init(void);
+void update_main(void);
 
 /* Debut du programme */
 int main(void)
@@ -52,20 +67,22 @@
 
 void init(void)
 {
-    roboclaw.ForwardM1(ADR, 0);
-    roboclaw.ForwardM2(ADR, 0);
     logger.baud(9600);
     logger.printf("Hello from main !\n\r");
-    wait_ms(500);
-    bleu = 1, blanc = 1, rouge = 1;
-    wait_ms(1000);
-    bleu = 0, blanc = 0, rouge = 0;
-    
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+    LEDV = 1;
     while(button);
-    wait(1);
-    
-    init_ax12();
+    LEDV = 0;
+    roboclaw.ResetEnc();
     init_interrupt();
+    ticker.attach_us(&update_main, dt); // 100 Hz    
     wait_ms(100);
     logger.printf("End init\n\r");
 }
+
+void update_main(void)
+{
+    odo.update_odo();
+    //checkAround();
+}
\ No newline at end of file