ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

Functions/func.cpp@78:c28bdbf29b6e, 2016-05-05 (annotated)

Committer:
IceTeam
Date:
Thu May 05 13:17:00 2016 +0000
Revision:
78:c28bdbf29b6e
Parent:
77:f19cc7f81f2a 
Des trucs qui compilent

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 78:c28bdbf29b6e 1 #include <cmath>
IceTeam 78:c28bdbf29b6e 2
sype 41:b5a2fbc20beb 3 #include "func.h"
sype 41:b5a2fbc20beb 4
IceTeam 78:c28bdbf29b6e 5 int max(int a, int b)
IceTeam 78:c28bdbf29b6e 6 {
IceTeam 78:c28bdbf29b6e 7 return (a>b)?a:b;
IceTeam 78:c28bdbf29b6e 8 }
IceTeam 78:c28bdbf29b6e 9
IceTeam 78:c28bdbf29b6e 10 int max(int a, int b, int c)
IceTeam 78:c28bdbf29b6e 11 {
IceTeam 78:c28bdbf29b6e 12 return max(a,max(b,c));
IceTeam 78:c28bdbf29b6e 13 }
IceTeam 78:c28bdbf29b6e 14
IceTeam 78:c28bdbf29b6e 15 int min(int a, int b)
IceTeam 78:c28bdbf29b6e 16 {
IceTeam 78:c28bdbf29b6e 17 return (a<b)?a:b;
IceTeam 78:c28bdbf29b6e 18 }
IceTeam 78:c28bdbf29b6e 19
sype 51:1056dd73a748 20 void init_interrupt(void)
sype 51:1056dd73a748 21 {
sype 51:1056dd73a748 22 ticker.attach_us(&update_main, dt); // 100 Hz
sype 51:1056dd73a748 23 }
sype 51:1056dd73a748 24
sype 41:b5a2fbc20beb 25 void pressed(void)
sype 41:b5a2fbc20beb 26 {
sype 46:5658af4e5149 27 if(SIMON_i==0) {
sype 46:5658af4e5149 28 roboclaw.ForwardM1(0);
sype 46:5658af4e5149 29 roboclaw.ForwardM2(0);
sype 46:5658af4e5149 30 SIMON_i++;
sype 41:b5a2fbc20beb 31 }
sype 41:b5a2fbc20beb 32 }
sype 41:b5a2fbc20beb 33
sype 41:b5a2fbc20beb 34 void unpressed(void)
sype 41:b5a2fbc20beb 35 {
sype 46:5658af4e5149 36 if(SIMON_i==1) {
sype 46:5658af4e5149 37 SIMON_i--;
sype 41:b5a2fbc20beb 38 }
sype 41:b5a2fbc20beb 39 }
sype 41:b5a2fbc20beb 40
sype 41:b5a2fbc20beb 41 void checkAround(void)
sype 41:b5a2fbc20beb 42 {
IceTeam 78:c28bdbf29b6e 43 SDroite += (capt1.read() > seuils[0]?1:-1);
IceTeam 78:c28bdbf29b6e 44 SDroite = min(SDroite, 5);
IceTeam 78:c28bdbf29b6e 45 SDroite = max(SDroite, -5);
IceTeam 78:c28bdbf29b6e 46
IceTeam 78:c28bdbf29b6e 47 SDevant += (capt2.read() > seuils[1]?1:-1);
IceTeam 78:c28bdbf29b6e 48 SDevant = min(SDevant, 5);
IceTeam 78:c28bdbf29b6e 49 SDevant = max(SDevant, -5);
IceTeam 78:c28bdbf29b6e 50
IceTeam 78:c28bdbf29b6e 51 SGauche += (capt3.read() > seuils[2]?1:-1);
IceTeam 78:c28bdbf29b6e 52 SGauche = min(SGauche, 5);
IceTeam 78:c28bdbf29b6e 53 SGauche = max(SGauche, -5);
IceTeam 78:c28bdbf29b6e 54
IceTeam 78:c28bdbf29b6e 55 drapeau[0] = SGauche>0;
IceTeam 78:c28bdbf29b6e 56 drapeau[1] = SDevant>0;
IceTeam 78:c28bdbf29b6e 57 drapeau[2] = SDroite>0;
IceTeam 78:c28bdbf29b6e 58
IceTeam 78:c28bdbf29b6e 59 logger.printf("Sharps : %d %d %d\r\n", SGauche, SDevant, SDroite);
sype 41:b5a2fbc20beb 60 }
sype 41:b5a2fbc20beb 61
sype 48:03da1aead032 62 /*void init_ax12(void)
sype 41:b5a2fbc20beb 63 {
sype 41:b5a2fbc20beb 64 left_hand.setMode(0);
sype 41:b5a2fbc20beb 65 wait_ms(10);
sype 41:b5a2fbc20beb 66 right_hand.setMode(0);
sype 41:b5a2fbc20beb 67 wait_ms(50);
sype 41:b5a2fbc20beb 68 left_hand.setMode(0);
sype 41:b5a2fbc20beb 69 wait_ms(10);
sype 41:b5a2fbc20beb 70 right_hand.setMode(0);
sype 41:b5a2fbc20beb 71 wait_ms(50);
sype 41:b5a2fbc20beb 72 right_hand.setGoal(0);
sype 41:b5a2fbc20beb 73 left_hand.setGoal(0);
sype 41:b5a2fbc20beb 74 wait(2);
sype 41:b5a2fbc20beb 75 right_hand.setGoal(180);
sype 41:b5a2fbc20beb 76 left_hand.setGoal(180);
sype 41:b5a2fbc20beb 77 wait(2);
sype 48:03da1aead032 78 }*/
sype 44:b1fd7489369f 79
sype 46:5658af4e5149 80 void changeCamp(void)
sype 46:5658af4e5149 81 {
sype 48:03da1aead032 82 if(SCouleur==VERT) {
sype 48:03da1aead032 83 SCouleur = VIOLET;
sype 48:03da1aead032 84 LEDR = 1;
sype 48:03da1aead032 85 LEDV = 0;
sype 51:1056dd73a748 86 } else {
sype 48:03da1aead032 87 SCouleur = VERT;
sype 48:03da1aead032 88 LEDV = 1;
sype 51:1056dd73a748 89 LEDR = 0;
sype 48:03da1aead032 90 }
sype 46:5658af4e5149 91 }
sype 46:5658af4e5149 92
sype 51:1056dd73a748 93 void depart(void)
sype 45:b53ae54062c6 94 {
sype 51:1056dd73a748 95 while(button==1) {
sype 51:1056dd73a748 96 if(CAMP==0) {
sype 51:1056dd73a748 97 changeCamp();
sype 51:1056dd73a748 98 }
sype 51:1056dd73a748 99 wait_ms(100);
sype 51:1056dd73a748 100 }
sype 51:1056dd73a748 101
sype 51:1056dd73a748 102 if(SCouleur == VERT)logger.printf("Couleur VERT !\n\r");
sype 51:1056dd73a748 103 else logger.printf("Couleur ROUGE !\n\r");
sype 51:1056dd73a748 104
sype 51:1056dd73a748 105 while(START==0) {
sype 51:1056dd73a748 106 drapeau = SSchema;
sype 51:1056dd73a748 107 if(CAMP==0) {
sype 51:1056dd73a748 108 SSchema++;
sype 51:1056dd73a748 109 if(SSchema == 6) SSchema = 1;
sype 51:1056dd73a748 110 drapeau = SSchema;
sype 51:1056dd73a748 111 }
sype 51:1056dd73a748 112 wait_ms(100);
sype 51:1056dd73a748 113 }
sype 51:1056dd73a748 114 logger.printf("Schema numero : %d !\n\r", SSchema);
sype 51:1056dd73a748 115 }