ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

deplacement.cpp@96:1e91cac784fe, 2016-05-06 (annotated)

Committer:
IceTeam
Date:
Fri May 06 21:21:49 2016 +0000
Revision:
96:1e91cac784fe
Parent:
94:86b9bd6d5c28
Child:
97:42167cfeb8d7
Coucou vers ordi de simon

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 86:0c5e9ac3d8d8 1 #include "entete.h"
IceTeam 86:0c5e9ac3d8d8 2
IceTeam 86:0c5e9ac3d8d8 3 void GotoDist(float timer) {
IceTeam 86:0c5e9ac3d8d8 4 Timer t;
IceTeam 86:0c5e9ac3d8d8 5
IceTeam 86:0c5e9ac3d8d8 6 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 7 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 8
IceTeam 86:0c5e9ac3d8d8 9 t.reset();
IceTeam 86:0c5e9ac3d8d8 10 t.start();
IceTeam 86:0c5e9ac3d8d8 11
IceTeam 86:0c5e9ac3d8d8 12 while (t.read() < timer) {
IceTeam 86:0c5e9ac3d8d8 13 if (Ravance != 1) {
IceTeam 86:0c5e9ac3d8d8 14 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 15 roboclaw.ForwardM2(0);
IceTeam 93:c0b040954eac 16 wait_ms(1);
IceTeam 86:0c5e9ac3d8d8 17 t.stop();
IceTeam 86:0c5e9ac3d8d8 18 while (Ravance != 1);
IceTeam 93:c0b040954eac 19 wait_ms(1);
IceTeam 86:0c5e9ac3d8d8 20 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 21 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 22 t.start();
IceTeam 86:0c5e9ac3d8d8 23 }
IceTeam 86:0c5e9ac3d8d8 24 }
IceTeam 86:0c5e9ac3d8d8 25
IceTeam 86:0c5e9ac3d8d8 26 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 27 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 28
IceTeam 86:0c5e9ac3d8d8 29 t.stop();
IceTeam 86:0c5e9ac3d8d8 30 t.reset();
IceTeam 86:0c5e9ac3d8d8 31
IceTeam 86:0c5e9ac3d8d8 32 wait(waiting_time);
IceTeam 86:0c5e9ac3d8d8 33 }
IceTeam 86:0c5e9ac3d8d8 34
IceTeam 88:e4de39dd3e2e 35 void GotoArr(float timer) {
IceTeam 88:e4de39dd3e2e 36 Timer t;
IceTeam 88:e4de39dd3e2e 37
IceTeam 88:e4de39dd3e2e 38 roboclaw.SpeedAccelM1(accel_dista, -vitesse_dista);
IceTeam 88:e4de39dd3e2e 39 roboclaw.SpeedAccelM2(accel_dista, -vitesse_dista);
IceTeam 93:c0b040954eac 40 wait_ms(1);
IceTeam 88:e4de39dd3e2e 41
IceTeam 88:e4de39dd3e2e 42 t.reset();
IceTeam 88:e4de39dd3e2e 43 t.start();
IceTeam 88:e4de39dd3e2e 44
IceTeam 88:e4de39dd3e2e 45 while (t.read() < timer) {
IceTeam 88:e4de39dd3e2e 46 if (Ravance != 1) {
IceTeam 88:e4de39dd3e2e 47 roboclaw.ForwardM1(0);
IceTeam 93:c0b040954eac 48 wait_ms(1);
IceTeam 88:e4de39dd3e2e 49 roboclaw.ForwardM2(0);
IceTeam 88:e4de39dd3e2e 50 t.stop();
IceTeam 88:e4de39dd3e2e 51 while (Ravance != 1);
IceTeam 93:c0b040954eac 52 wait_ms(1);
IceTeam 93:c0b040954eac 53 roboclaw.SpeedAccelM1(accel_dista, -vitesse_dista);
IceTeam 93:c0b040954eac 54 roboclaw.SpeedAccelM2(accel_dista, -vitesse_dista);
IceTeam 88:e4de39dd3e2e 55 t.start();
IceTeam 88:e4de39dd3e2e 56 }
IceTeam 88:e4de39dd3e2e 57 }
IceTeam 88:e4de39dd3e2e 58
IceTeam 88:e4de39dd3e2e 59 roboclaw.ForwardM1(0);
IceTeam 93:c0b040954eac 60 wait_ms(1);
IceTeam 88:e4de39dd3e2e 61 roboclaw.ForwardM2(0);
IceTeam 88:e4de39dd3e2e 62
IceTeam 88:e4de39dd3e2e 63 t.stop();
IceTeam 88:e4de39dd3e2e 64 t.reset();
IceTeam 88:e4de39dd3e2e 65
IceTeam 88:e4de39dd3e2e 66 wait(waiting_time);
IceTeam 89:46730de0d013 67 }
IceTeam 89:46730de0d013 68
IceTeam 89:46730de0d013 69 void GotoThet(double theta_) {
IceTeam 89:46730de0d013 70 roboclaw.ResetEnc();
IceTeam 90:78d2c1527c95 71 wait_ms(10);
IceTeam 96:1e91cac784fe 72 int distance_ticks_left = -theta_*ENTRAXE/(2*(DIAMETRE_ROUE_GAUCHE*3.14159/4096));
IceTeam 96:1e91cac784fe 73 int distance_ticks_right = theta_*ENTRAXE/(2*(DIAMETRE_ROUE_DROITE*3.14159/4096));
IceTeam 89:46730de0d013 74
IceTeam 89:46730de0d013 75 if (theta_ < 0)
IceTeam 94:86b9bd6d5c28 76 roboclaw.SpeedAccelDeccelPositionM1M2(accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
IceTeam 89:46730de0d013 77 else
IceTeam 94:86b9bd6d5c28 78 roboclaw.SpeedAccelDeccelPositionM1M2(accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
IceTeam 89:46730de0d013 79
IceTeam 94:86b9bd6d5c28 80 wait(3);
IceTeam 89:46730de0d013 81 roboclaw.ForwardM1(0);
IceTeam 89:46730de0d013 82 roboclaw.ForwardM2(0);
IceTeam 94:86b9bd6d5c28 83 }
IceTeam 94:86b9bd6d5c28 84
IceTeam 96:1e91cac784fe 85 void GotoDistPos(double distance)
IceTeam 94:86b9bd6d5c28 86 {
IceTeam 96:1e91cac784fe 87 roboclaw.ResetEnc();
IceTeam 96:1e91cac784fe 88 wait_ms(1);
IceTeam 96:1e91cac784fe 89 int32_t distance_ticks_left = distance/((DIAMETRE_ROUE_GAUCHE*3.14156)/4096);
IceTeam 96:1e91cac784fe 90 int32_t distance_ticks_right = distance/((DIAMETRE_ROUE_GAUCHE*3.14156)/4096);
IceTeam 94:86b9bd6d5c28 91
IceTeam 96:1e91cac784fe 92 roboclaw.SpeedAccelDeccelPositionM1M2(accel_dista, vitesse_dista, deccel_dista, distance_ticks_right, accel_dista, vitesse_dista, deccel_dista, distance_ticks_left, 1);
IceTeam 96:1e91cac784fe 93
IceTeam 96:1e91cac784fe 94 while(abs(roboclaw.ReadEncM1() - distance_ticks_right) > 20 && abs(roboclaw.ReadEncM2() - distance_ticks_left) > 20);
IceTeam 94:86b9bd6d5c28 95
IceTeam 96:1e91cac784fe 96 wait(0.1);
IceTeam 86:0c5e9ac3d8d8 97 }