ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

main.cpp@48:03da1aead032, 2016-04-28 (annotated)

Committer:
sype
Date:
Thu Apr 28 08:11:25 2016 +0000
Revision:
48:03da1aead032
Parent:
46:5658af4e5149
Child:
49:5e2f7323f280
Int?gration de "l'algo" carte boutons, maintenant le bouton bleu (utilisateur) est remplac? par le jumper pr?sent sur la carte (on le retire pour d?marrer) et le changement de camp du robot se fait par le bouton pr?sent sur cette carte

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 41:b5a2fbc20beb 1 #include "func.h"
sype 0:ad9600df4a70 2
sype 41:b5a2fbc20beb 3 /* Déclaration des différents éléments de l'IHM */
sype 46:5658af4e5149 4
sype 48:03da1aead032 5 InterruptIn CAMP(PA_15);
sype 48:03da1aead032 6 InterruptIn START(PB_7);
sype 46:5658af4e5149 7 DigitalOut LEDR(PC_2);
sype 46:5658af4e5149 8 DigitalOut LEDV(PC_3);
sype 46:5658af4e5149 9
sype 10:ae3178aa94e9 10 InterruptIn mybutton(USER_BUTTON);
sype 10:ae3178aa94e9 11 DigitalIn button(USER_BUTTON);
sype 46:5658af4e5149 12
sype 46:5658af4e5149 13 DigitalIn ChannelA1(PA_1);
sype 46:5658af4e5149 14 DigitalIn ChannelB1(PA_0);
sype 46:5658af4e5149 15 DigitalIn ChannelA2(PA_5);
sype 46:5658af4e5149 16 DigitalIn ChannelB2(PA_6);
sype 46:5658af4e5149 17
sype 41:b5a2fbc20beb 18 DigitalOut bleu(PC_5);
sype 41:b5a2fbc20beb 19 DigitalOut blanc(PC_6);
sype 41:b5a2fbc20beb 20 DigitalOut rouge(PC_8);
sype 41:b5a2fbc20beb 21
sype 46:5658af4e5149 22 /* AX12 - non fonctionnels, je pense que le souci vient de la bibliothèque car la trame n'est pas correcte (analyseur logique) */
sype 48:03da1aead032 23 //AX12 left_hand(PA_9, PA_10, 4, 250000);
sype 48:03da1aead032 24 //AX12 right_hand(PA_9, PA_10, 1, 250000);
sype 41:b5a2fbc20beb 25
sype 41:b5a2fbc20beb 26 /* Sharp */
sype 41:b5a2fbc20beb 27 AnalogIn capt1(PA_4);
sype 41:b5a2fbc20beb 28 AnalogIn capt2(PB_0);
sype 41:b5a2fbc20beb 29 AnalogIn capt3(PC_1);
sype 41:b5a2fbc20beb 30 AnalogIn capt4(PC_0);
sype 41:b5a2fbc20beb 31
sype 41:b5a2fbc20beb 32 /* Moteurs pas à pas */
sype 46:5658af4e5149 33 Stepper RMot(NC, PA_8, PC_7);
sype 46:5658af4e5149 34 Stepper ZMot(NC, PB_4, PB_10);
sype 46:5658af4e5149 35 Stepper LMot(NC, PB_5, PB_3);
sype 41:b5a2fbc20beb 36 /* Fins de course */
sype 41:b5a2fbc20beb 37 InterruptIn EndR(PB_15);
sype 41:b5a2fbc20beb 38 InterruptIn EndZ(PB_14);
sype 41:b5a2fbc20beb 39 InterruptIn EndL(PB_13);
sype 41:b5a2fbc20beb 40
sype 0:ad9600df4a70 41 Ticker ticker;
sype 41:b5a2fbc20beb 42
sype 41:b5a2fbc20beb 43 Serial logger(USBTX, USBRX);
sype 48:03da1aead032 44 //Serial logger(PA_9, PA_10);
sype 46:5658af4e5149 45 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
IceTeam 39:309f38d1e49c 46 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
sype 10:ae3178aa94e9 47
sype 48:03da1aead032 48 int SIMON_i = 0, SIMON_state = 0, SCouleur = 1, SStart = 0;
sype 46:5658af4e5149 49 bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false;
sype 0:ad9600df4a70 50
sype 2:abdf8c6823a1 51 void init(void);
sype 46:5658af4e5149 52 void update_main(void);
sype 0:ad9600df4a70 53
sype 43:d5aaff7d2bec 54 /* Debut du programme */
sype 0:ad9600df4a70 55 int main(void)
sype 10:ae3178aa94e9 56 {
sype 37:da3a2c781672 57 init();
sype 48:03da1aead032 58 while(1);
sype 2:abdf8c6823a1 59 }
sype 2:abdf8c6823a1 60
sype 2:abdf8c6823a1 61 void init(void)
sype 0:ad9600df4a70 62 {
sype 37:da3a2c781672 63 logger.baud(9600);
sype 48:03da1aead032 64 logger.printf("Coucou!\n\r");
sype 46:5658af4e5149 65 roboclaw.ForwardM1(0);
sype 46:5658af4e5149 66 roboclaw.ForwardM2(0);
sype 48:03da1aead032 67 while(SStart==0);
sype 48:03da1aead032 68 wait(1);
sype 48:03da1aead032 69 odo.setPos(110, 1000, 0);
sype 46:5658af4e5149 70 roboclaw.ResetEnc();
sype 44:b1fd7489369f 71 init_interrupt();
sype 41:b5a2fbc20beb 72 wait_ms(100);
IceTeam 39:309f38d1e49c 73 logger.printf("End init\n\r");
sype 0:ad9600df4a70 74 }
sype 46:5658af4e5149 75
sype 46:5658af4e5149 76 void update_main(void)
sype 46:5658af4e5149 77 {
sype 48:03da1aead032 78 //odo.update_odo();
sype 46:5658af4e5149 79 //checkAround();
sype 46:5658af4e5149 80 }