ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

main.cpp@90:78d2c1527c95, 2016-05-06 (annotated)

Committer:
IceTeam
Date:
Fri May 06 12:34:25 2016 +0000
Revision:
90:78d2c1527c95
Parent:
89:46730de0d013
Child:
91:65fb6b9f3932
Fonctionnel 61 max :);

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 81:e7b03e81b025 1 #include "entete.h"
IceTeam 85:38cbf5fd22e1 2 #include "AX12/AX12.h"
sype 41:b5a2fbc20beb 3
IceTeam 83:714fa414b2bf 4 DigitalIn CAMP(PA_15);
IceTeam 83:714fa414b2bf 5 DigitalIn START(PB_7);
IceTeam 83:714fa414b2bf 6 DigitalOut LEDR(PC_2);
IceTeam 83:714fa414b2bf 7 DigitalOut LEDV(PC_3);
IceTeam 84:b54822c913b0 8 DigitalIn button(USER_BUTTON);
IceTeam 83:714fa414b2bf 9 int SCouleur = VERT;
IceTeam 83:714fa414b2bf 10
IceTeam 80:cd4960dfa47e 11 BusOut drapeau (PC_8, PC_6, PC_5);
sype 46:5658af4e5149 12 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
IceTeam 80:cd4960dfa47e 13 AnalogIn Rcapt1(PA_4);
IceTeam 80:cd4960dfa47e 14 int RvalRcapt1 = 0;
IceTeam 80:cd4960dfa47e 15 AnalogIn Rcapt2(PB_0);
IceTeam 80:cd4960dfa47e 16 int RvalRcapt2 = 0;
IceTeam 80:cd4960dfa47e 17 AnalogIn Rcapt3(PC_1);
IceTeam 80:cd4960dfa47e 18 int RvalRcapt3 = 0;
IceTeam 80:cd4960dfa47e 19 int Ravance = 1;
IceTeam 81:e7b03e81b025 20 DigitalIn start(PB_7);
IceTeam 88:e4de39dd3e2e 21 AX12 umbrella(PA_9, PA_10, 2, 250000);
IceTeam 90:78d2c1527c95 22 float R_SEUIL_SHARP = 1;
IceTeam 80:cd4960dfa47e 23
sype 43:d5aaff7d2bec 24 /* Debut du programme */
sype 0:ad9600df4a70 25 int main(void)
sype 10:ae3178aa94e9 26 {
IceTeam 80:cd4960dfa47e 27 Ticker ticker;
IceTeam 86:0c5e9ac3d8d8 28 Timeout end;
IceTeam 80:cd4960dfa47e 29 ticker.attach(&Sharps, 0.01);
IceTeam 86:0c5e9ac3d8d8 30
IceTeam 85:38cbf5fd22e1 31 umbrella.setMode(0);
IceTeam 85:38cbf5fd22e1 32 umbrella.setMaxTorque(200);
IceTeam 86:0c5e9ac3d8d8 33 umbrella.setGoal(150);
IceTeam 88:e4de39dd3e2e 34 wait(1);
IceTeam 90:78d2c1527c95 35 umbrella.setGoal(160);
IceTeam 88:e4de39dd3e2e 36 wait(1);
IceTeam 90:78d2c1527c95 37 umbrella.setGoal(150);
IceTeam 90:78d2c1527c95 38 wait(1);
IceTeam 90:78d2c1527c95 39 umbrella.setMaxTorque(0);
IceTeam 88:e4de39dd3e2e 40
IceTeam 83:714fa414b2bf 41 depart();
IceTeam 83:714fa414b2bf 42 if (SCouleur == VERT) {
IceTeam 90:78d2c1527c95 43 end.attach(&endFonc, 60);
IceTeam 90:78d2c1527c95 44 GotoDist(9.0);
IceTeam 90:78d2c1527c95 45 GotoArr(9.2);
IceTeam 90:78d2c1527c95 46 R_SEUIL_SHARP = 0.25;
IceTeam 90:78d2c1527c95 47 GotoDist(2.5);
IceTeam 90:78d2c1527c95 48 GotoThet(-3.14159);
IceTeam 90:78d2c1527c95 49 GotoDist(4);
IceTeam 90:78d2c1527c95 50 R_SEUIL_SHARP = 1;
IceTeam 90:78d2c1527c95 51 GotoDist(3.5);
IceTeam 83:714fa414b2bf 52 }
IceTeam 86:0c5e9ac3d8d8 53 else if (SCouleur == VIOLET) {
IceTeam 90:78d2c1527c95 54 end.attach(&endFonc, 60);
IceTeam 90:78d2c1527c95 55 GotoDist(9.0);
IceTeam 90:78d2c1527c95 56 GotoArr(9.2);
IceTeam 90:78d2c1527c95 57 R_SEUIL_SHARP = 0.25;
IceTeam 90:78d2c1527c95 58 GotoDist(2.5);
IceTeam 89:46730de0d013 59 GotoThet(3.14159);
IceTeam 90:78d2c1527c95 60 GotoDist(4);
IceTeam 90:78d2c1527c95 61 R_SEUIL_SHARP = 1;
IceTeam 90:78d2c1527c95 62 GotoDist(3.5);
IceTeam 83:714fa414b2bf 63 }
IceTeam 88:e4de39dd3e2e 64 else if (SCouleur == NOIR) {
IceTeam 84:b54822c913b0 65 TestDist3(2,2);
IceTeam 84:b54822c913b0 66 TestThet3(1,1);
IceTeam 83:714fa414b2bf 67 }
IceTeam 83:714fa414b2bf 68
sype 77:f19cc7f81f2a 69 while(1);
sype 2:abdf8c6823a1 70 }
IceTeam 80:cd4960dfa47e 71
IceTeam 80:cd4960dfa47e 72 void Sharps() {
IceTeam 80:cd4960dfa47e 73 if (Rcapt1.read() > R_SEUIL_SHARP) RvalRcapt1++;
IceTeam 80:cd4960dfa47e 74 else RvalRcapt1--;
IceTeam 80:cd4960dfa47e 75 RvalRcapt1 = RvalRcapt1 > 10 ? 10 : RvalRcapt1;
IceTeam 80:cd4960dfa47e 76 RvalRcapt1 = RvalRcapt1 < 0 ? 0 : RvalRcapt1;
IceTeam 80:cd4960dfa47e 77
IceTeam 80:cd4960dfa47e 78 if (Rcapt2.read() > R_SEUIL_SHARP) RvalRcapt2++;
IceTeam 80:cd4960dfa47e 79 else RvalRcapt2--;
IceTeam 80:cd4960dfa47e 80 RvalRcapt2 = RvalRcapt2 > 10 ? 10 : RvalRcapt2;
IceTeam 80:cd4960dfa47e 81 RvalRcapt2 = RvalRcapt2 < 0 ? 0 : RvalRcapt2;
IceTeam 80:cd4960dfa47e 82
IceTeam 80:cd4960dfa47e 83 if (Rcapt3.read() > R_SEUIL_SHARP) RvalRcapt3++;
IceTeam 80:cd4960dfa47e 84 else RvalRcapt3--;
IceTeam 80:cd4960dfa47e 85 RvalRcapt3 = RvalRcapt3 > 10 ? 10 : RvalRcapt3;
IceTeam 80:cd4960dfa47e 86 RvalRcapt3 = RvalRcapt3 < 0 ? 0 : RvalRcapt3;
IceTeam 80:cd4960dfa47e 87
IceTeam 90:78d2c1527c95 88 if ((RvalRcapt1 >= 5 || RvalRcapt2 >= 5 || RvalRcapt3 >= 5))
IceTeam 80:cd4960dfa47e 89 Ravance = 0;
IceTeam 80:cd4960dfa47e 90 else
IceTeam 80:cd4960dfa47e 91 Ravance = 1;
IceTeam 80:cd4960dfa47e 92
IceTeam 80:cd4960dfa47e 93 if (Ravance == 0)
IceTeam 80:cd4960dfa47e 94 drapeau = 1;
IceTeam 80:cd4960dfa47e 95 else
IceTeam 80:cd4960dfa47e 96 drapeau = 2;
IceTeam 81:e7b03e81b025 97 }
IceTeam 81:e7b03e81b025 98
IceTeam 86:0c5e9ac3d8d8 99 void endFonc () {
IceTeam 88:e4de39dd3e2e 100 roboclaw.ForwardM1(0);
IceTeam 88:e4de39dd3e2e 101 roboclaw.ForwardM2(0);
IceTeam 88:e4de39dd3e2e 102 wait(1);
IceTeam 90:78d2c1527c95 103 umbrella.setMaxTorque(400);
IceTeam 90:78d2c1527c95 104 wait(1);
IceTeam 88:e4de39dd3e2e 105 umbrella.setGoal(300);
IceTeam 88:e4de39dd3e2e 106 while(1);
IceTeam 81:e7b03e81b025 107 }