ARES / Mbed 2 deprecated Robot2016_2-0

Robot secondaire

Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

main.cpp@64:24e1057a97f7, 2016-05-05 (annotated)

Committer:
IceTeam
Date:
Thu May 05 01:30:14 2016 +0200
Revision:
64:24e1057a97f7
Parent:
58:02dc8328975a
Child:
65:7bf11abfefc3
Test du code d'execution des objectifs et des nouvelles fonctionnalites du path finding

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
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
sype 48:03da1aead032 27 //AX12 left_hand(PA_9, PA_10, 4, 250000);
sype 48:03da1aead032 28 //AX12 right_hand(PA_9, PA_10, 1, 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
Jagang 58:02dc8328975a 48 ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL);
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 {
IceTeam 64:24e1057a97f7 65 map m(&odo, NULL, controlleurPince, VERT, 1);
IceTeam 64:24e1057a97f7 66 m.Build();
IceTeam 64:24e1057a97f7 67 m.Execute(1);
IceTeam 64:24e1057a97f7 68 m.Execute();
sype 51:1056dd73a748 69 /*drapeau = 0;
sype 51:1056dd73a748 70 init();
sype 51:1056dd73a748 71
sype 51:1056dd73a748 72 map m(&odo);
IceTeam 47:be4eebf40568 73 m.addObs(obsCarr (1250, 1000, 220, 220));
IceTeam 47:be4eebf40568 74 m.addObs(obsCarr (1500, 750, 220, 220));
IceTeam 47:be4eebf40568 75 m.addObs(obsCarr (1500, 1250, 220, 220));
sype 51:1056dd73a748 76
IceTeam 47:be4eebf40568 77 init();
IceTeam 47:be4eebf40568 78
IceTeam 52:98f8a6ccb6ae 79 int cote = MAP_RIGHTSIDE;
IceTeam 47:be4eebf40568 80 /*map m(&odo);
IceTeam 52:98f8a6ccb6ae 81 m.Build(cote);
IceTeam 47:be4eebf40568 82 m.Execute(1000,1000);
IceTeam 47:be4eebf40568 83 m.Execute(1500,1000);
IceTeam 47:be4eebf40568 84 m.Execute(1500,1500);
IceTeam 47:be4eebf40568 85 m.Execute(110,1000);
sype 51:1056dd73a748 86
IceTeam 47:be4eebf40568 87 odo.GotoThet(0);
sype 49:5e2f7323f280 88 roboclaw.ForwardM1(0);
sype 49:5e2f7323f280 89 roboclaw.ForwardM2(0);
sype 51:1056dd73a748 90 logger.printf ("Chemin Fini !");
sype 51:1056dd73a748 91
sype 51:1056dd73a748 92 while(1);*/
sype 2:abdf8c6823a1 93 }
sype 2:abdf8c6823a1 94
sype 2:abdf8c6823a1 95 void init(void)
sype 0:ad9600df4a70 96 {
sype 37:da3a2c781672 97 logger.baud(9600);
sype 37:da3a2c781672 98 logger.printf("Hello from main !\n\r");
sype 51:1056dd73a748 99
sype 51:1056dd73a748 100 init_interrupt();
sype 51:1056dd73a748 101 goHome();
sype 51:1056dd73a748 102
sype 51:1056dd73a748 103 SCouleur = VERT;
sype 51:1056dd73a748 104 LEDV = 1;
sype 51:1056dd73a748 105 LEDR = 0;
sype 51:1056dd73a748 106
sype 49:5e2f7323f280 107 odo.setPos(110, 1000, 0);
sype 51:1056dd73a748 108 roboclaw.ResetEnc();
sype 46:5658af4e5149 109 roboclaw.ForwardM1(0);
sype 51:1056dd73a748 110 roboclaw.ForwardM2(0);
sype 10:ae3178aa94e9 111 wait_ms(500);
sype 51:1056dd73a748 112 while(1);
sype 51:1056dd73a748 113 //depart();
sype 44:b1fd7489369f 114 init_interrupt();
sype 41:b5a2fbc20beb 115 wait_ms(100);
sype 51:1056dd73a748 116 while(START==0);
IceTeam 39:309f38d1e49c 117 logger.printf("End init\n\r");
sype 0:ad9600df4a70 118 }
sype 46:5658af4e5149 119
sype 46:5658af4e5149 120 void update_main(void)
sype 46:5658af4e5149 121 {
sype 49:5e2f7323f280 122 odo.update_odo();
sype 51:1056dd73a748 123 checkAround();
sype 46:5658af4e5149 124 }