ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

deplacement.cpp@89:46730de0d013, 2016-05-06 (annotated)

Committer:
IceTeam
Date:
Fri May 06 11:54:27 2016 +0000
Revision:
89:46730de0d013
Parent:
88:e4de39dd3e2e
Child:
90:78d2c1527c95
Rajout de GotoThet - Attention il y a un petit saut au d?but

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 86:0c5e9ac3d8d8 16 t.stop();
IceTeam 86:0c5e9ac3d8d8 17 while (Ravance != 1);
IceTeam 86:0c5e9ac3d8d8 18 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 19 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 20 t.start();
IceTeam 86:0c5e9ac3d8d8 21 }
IceTeam 86:0c5e9ac3d8d8 22 }
IceTeam 86:0c5e9ac3d8d8 23
IceTeam 86:0c5e9ac3d8d8 24 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 25 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 26
IceTeam 86:0c5e9ac3d8d8 27 t.stop();
IceTeam 86:0c5e9ac3d8d8 28 t.reset();
IceTeam 86:0c5e9ac3d8d8 29
IceTeam 86:0c5e9ac3d8d8 30 wait(waiting_time);
IceTeam 86:0c5e9ac3d8d8 31 }
IceTeam 86:0c5e9ac3d8d8 32
IceTeam 86:0c5e9ac3d8d8 33 void GotoThet (float timer, int signe) {
IceTeam 86:0c5e9ac3d8d8 34 Timer t;
IceTeam 86:0c5e9ac3d8d8 35
IceTeam 88:e4de39dd3e2e 36 if (signe == GAUCHE) {
IceTeam 88:e4de39dd3e2e 37 //roboclaw.SpeedAccelM1(accel_angle, vitesse_angle);
IceTeam 88:e4de39dd3e2e 38 //roboclaw.SpeedAccelM2(accel_angle, -vitesse_angle);
IceTeam 88:e4de39dd3e2e 39 roboclaw.SpeedM1(vitesse_angle);
IceTeam 88:e4de39dd3e2e 40 roboclaw.SpeedM2(-vitesse_angle);
IceTeam 86:0c5e9ac3d8d8 41 }
IceTeam 88:e4de39dd3e2e 42 if (signe == DROITE) {
IceTeam 88:e4de39dd3e2e 43 roboclaw.SpeedAccelM1(accel_angle, -vitesse_angle);
IceTeam 88:e4de39dd3e2e 44 roboclaw.SpeedAccelM2(accel_angle, vitesse_angle);
IceTeam 86:0c5e9ac3d8d8 45 }
IceTeam 86:0c5e9ac3d8d8 46
IceTeam 86:0c5e9ac3d8d8 47 t.reset();
IceTeam 86:0c5e9ac3d8d8 48 t.start();
IceTeam 86:0c5e9ac3d8d8 49
IceTeam 86:0c5e9ac3d8d8 50 while (t.read() < timer) {
IceTeam 86:0c5e9ac3d8d8 51 if (Ravance != 1) {
IceTeam 86:0c5e9ac3d8d8 52 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 53 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 54 t.stop();
IceTeam 86:0c5e9ac3d8d8 55 while (Ravance != 1);
IceTeam 86:0c5e9ac3d8d8 56 t.start();
IceTeam 86:0c5e9ac3d8d8 57 }
IceTeam 86:0c5e9ac3d8d8 58 if (signe < 0) {
IceTeam 86:0c5e9ac3d8d8 59 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 60 roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 61 }
IceTeam 86:0c5e9ac3d8d8 62 else {
IceTeam 86:0c5e9ac3d8d8 63 roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 64 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 86:0c5e9ac3d8d8 65 }
IceTeam 86:0c5e9ac3d8d8 66 }
IceTeam 86:0c5e9ac3d8d8 67
IceTeam 86:0c5e9ac3d8d8 68 roboclaw.ForwardM1(0);
IceTeam 86:0c5e9ac3d8d8 69 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 70
IceTeam 86:0c5e9ac3d8d8 71 t.stop();
IceTeam 86:0c5e9ac3d8d8 72 t.reset();
IceTeam 86:0c5e9ac3d8d8 73
IceTeam 86:0c5e9ac3d8d8 74 wait(waiting_time);
IceTeam 88:e4de39dd3e2e 75 }
IceTeam 88:e4de39dd3e2e 76
IceTeam 88:e4de39dd3e2e 77 void GotoArr(float timer) {
IceTeam 88:e4de39dd3e2e 78 Timer t;
IceTeam 88:e4de39dd3e2e 79
IceTeam 88:e4de39dd3e2e 80 roboclaw.SpeedAccelM1(accel_dista, -vitesse_dista);
IceTeam 88:e4de39dd3e2e 81 roboclaw.SpeedAccelM2(accel_dista, -vitesse_dista);
IceTeam 88:e4de39dd3e2e 82
IceTeam 88:e4de39dd3e2e 83 t.reset();
IceTeam 88:e4de39dd3e2e 84 t.start();
IceTeam 88:e4de39dd3e2e 85
IceTeam 88:e4de39dd3e2e 86 while (t.read() < timer) {
IceTeam 88:e4de39dd3e2e 87 if (Ravance != 1) {
IceTeam 88:e4de39dd3e2e 88 roboclaw.ForwardM1(0);
IceTeam 88:e4de39dd3e2e 89 roboclaw.ForwardM2(0);
IceTeam 88:e4de39dd3e2e 90 t.stop();
IceTeam 88:e4de39dd3e2e 91 while (Ravance != 1);
IceTeam 88:e4de39dd3e2e 92 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 88:e4de39dd3e2e 93 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 88:e4de39dd3e2e 94 t.start();
IceTeam 88:e4de39dd3e2e 95 }
IceTeam 88:e4de39dd3e2e 96 }
IceTeam 88:e4de39dd3e2e 97
IceTeam 88:e4de39dd3e2e 98 roboclaw.ForwardM1(0);
IceTeam 88:e4de39dd3e2e 99 roboclaw.ForwardM2(0);
IceTeam 88:e4de39dd3e2e 100
IceTeam 88:e4de39dd3e2e 101 t.stop();
IceTeam 88:e4de39dd3e2e 102 t.reset();
IceTeam 88:e4de39dd3e2e 103
IceTeam 88:e4de39dd3e2e 104 wait(waiting_time);
IceTeam 89:46730de0d013 105 }
IceTeam 89:46730de0d013 106
IceTeam 89:46730de0d013 107 void GotoThet(double theta_) {
IceTeam 89:46730de0d013 108 roboclaw.ResetEnc();
IceTeam 89:46730de0d013 109 float diameter_left = 61.7;
IceTeam 89:46730de0d013 110 float diameter_right = 61.8;
IceTeam 89:46730de0d013 111 int distance_ticks_left = -theta_*ENTRAXE/(2*(diameter_left*3.14159/4096));
IceTeam 89:46730de0d013 112 int distance_ticks_right = theta_*ENTRAXE/(2*(diameter_right*3.14159/4096));
IceTeam 89:46730de0d013 113
IceTeam 89:46730de0d013 114 if (theta_ < 0)
IceTeam 89:46730de0d013 115 roboclaw.SpeedAccelDeccelPositionM1M2(-accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
IceTeam 89:46730de0d013 116 else
IceTeam 89:46730de0d013 117 roboclaw.SpeedAccelDeccelPositionM1M2(-accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, -accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
IceTeam 89:46730de0d013 118
IceTeam 89:46730de0d013 119 wait(10);
IceTeam 89:46730de0d013 120 roboclaw.ForwardM1(0);
IceTeam 89:46730de0d013 121 roboclaw.ForwardM2(0);
IceTeam 86:0c5e9ac3d8d8 122 }