ARES / Mbed 2 deprecated Timer

Time is good

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

Files at this revision

API Documentation at this revision

Revision 83:714fa414b2bf, committed 2016-05-06

Comitter:
IceTeam
Date:
Fri May 06 09:20:49 2016 +0200
Parent:
82:07e13071dd7b
Child:
84:b54822c913b0
Commit message:
Rajout gestion des couleurs

Changed in this revision

couleur.cpp Show annotated file Show diff for this revision Revisions of this file
entete.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/couleur.cpp	Fri May 06 09:20:49 2016 +0200
@@ -0,0 +1,29 @@
+#include "entete.h"
+
+void changeCamp(void)
+{
+    if(SCouleur==VERT) {
+        SCouleur = VIOLET;
+        LEDR = 1;
+        LEDV = 0;
+    } if (SCouleur == VIOLET) {
+        SCouleur = NOIR;
+        LEDV = 0;
+        LEDR = 0;
+    }
+    else {
+        SCouleur = NOIR;
+        LEDV = 1;
+        LEDR = 0;     
+    }
+}
+
+void depart(void)
+{
+    while(button==1) {
+        if(CAMP==0) {
+            changeCamp();
+        }
+        wait_ms(100);
+    }
+}

--- a/entete.h	Fri May 06 07:08:44 2016 +0000
+++ b/entete.h	Fri May 06 09:20:49 2016 +0200
@@ -15,6 +15,12 @@
 extern int Ravance;
 extern DigitalIn start;
 
+extern DigitalIn CAMP;
+extern DigitalIn START;
+extern DigitalOut LEDR;
+extern DigitalOut LEDV;
+extern int SCouleur;
+
 // Fonctions main.cpp
 void Sharps();
 void GotoThet (float timer, int signe);
@@ -26,6 +32,10 @@
 void TestThet3(float start, float pas);
 void compareThet(float start);
 
+// Fonctions couleur.cpp
+void depart(void);
+void changeCamp(void);
+
 #define ADR 0x80
 #define accel_angle 12000
 #define vitesse_angle 10000
@@ -40,4 +50,8 @@
 #define GAUCHE 1
 #define DROITE -1
 
+#define VERT 1
+#define VIOLET 2
+#define NOIR 3
+
 #endif
\ No newline at end of file

--- a/main.cpp	Fri May 06 07:08:44 2016 +0000
+++ b/main.cpp	Fri May 06 09:20:49 2016 +0200
@@ -1,5 +1,11 @@
 #include "entete.h"
 
+DigitalIn CAMP(PA_15);
+DigitalIn START(PB_7);
+DigitalOut LEDR(PC_2);
+DigitalOut LEDV(PC_3);
+int SCouleur = VERT;
+
 BusOut drapeau (PC_8, PC_6, PC_5);
 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
 AnalogIn Rcapt1(PA_4);
@@ -16,9 +22,17 @@
 {
     Ticker ticker;
     ticker.attach(&Sharps, 0.01);
-    while (start == 0) ;
-    GotoDist(5.5);
-    
+    depart();
+    if (SCouleur == VERT) {
+        GotoDist(5.5);
+    }
+    else if (SCouleur == VIOLET) {
+        ;
+    }
+    else {
+        ;
+    }
+
     while(1);
 }