AresENSEA-CDF2020
/
AresCDFMainCode
Code principal du projet
captUS.cpp@26:bb2b778bd351, 2020-11-03 (annotated)
- Committer:
- Nanaud
- Date:
- Tue Nov 03 16:29:13 2020 +0000
- Revision:
- 26:bb2b778bd351
- Parent:
- 25:869b1c1f51a7
UI
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nanaud | 22:f891c2bce091 | 1 | /* #include */ |
Nanaud | 0:dc036b67c87c | 2 | #include "pins.h" |
Nanaud | 22:f891c2bce091 | 3 | |
Nanaud | 24:be2b2be6907b | 4 | /* #define */ |
Nanaud | 26:bb2b778bd351 | 5 | #define DISTLIM 700 // Distance max de détection |
Nanaud | 26:bb2b778bd351 | 6 | #define OFFSET 100 |
Nanaud | 25:869b1c1f51a7 | 7 | #define MAXMOY 3 // Nombre de mesure pour la moyenne |
Nanaud | 24:be2b2be6907b | 8 | |
Nanaud | 22:f891c2bce091 | 9 | /* Variables globales */ |
Nanaud | 25:869b1c1f51a7 | 10 | Timer TimUS; // Timer pour la mesure de distance entre le robot |
Nanaud | 25:869b1c1f51a7 | 11 | Ticker TickUS_actu; // Actualisation valeur distance détection d'obstacle |
Nanaud | 22:f891c2bce091 | 12 | |
Nanaud | 25:869b1c1f51a7 | 13 | unsigned int us_high[6] = {0}; // Valeurs du timer lorsqu'il y a une interruption sur front montant |
Nanaud | 25:869b1c1f51a7 | 14 | unsigned int us_low[6] = {0}; // Valeurs du timer lorsqu'il y a une interruption sur front descendant |
Nanaud | 25:869b1c1f51a7 | 15 | unsigned int us_diff[6] = {0}; // Différence entre ces deux temps |
Nanaud | 25:869b1c1f51a7 | 16 | bool us_verif2[2][6] = {0}; |
Nanaud | 25:869b1c1f51a7 | 17 | |
Nanaud | 25:869b1c1f51a7 | 18 | unsigned int us_dist[6] = {0}; // Valeurs des distances |
Nanaud | 25:869b1c1f51a7 | 19 | bool us_rbt_restart = 0; // Le robot a détecté un obstacle et s'arrête |
Nanaud | 25:869b1c1f51a7 | 20 | bool us_libre = 0; // Le robot ne détecte plus d'obstacle, il est prêt à redémarrer |
Nanaud | 21:e5f0f5abb5ae | 21 | |
Nanaud | 25:869b1c1f51a7 | 22 | int i = 0; |
Nanaud | 25:869b1c1f51a7 | 23 | unsigned int us_dist_total[6] = {0}; |
Nanaud | 25:869b1c1f51a7 | 24 | unsigned int us_dist_moy[6] = {0}; |
Nanaud | 24:be2b2be6907b | 25 | |
Nanaud | 25:869b1c1f51a7 | 26 | void captUS_moyenne() |
Nanaud | 24:be2b2be6907b | 27 | { |
Nanaud | 25:869b1c1f51a7 | 28 | if(i < MAXMOY) { |
Nanaud | 24:be2b2be6907b | 29 | for(int j=0; j<6 ; j++) { |
Nanaud | 25:869b1c1f51a7 | 30 | us_dist_total[j] += us_dist[j]; |
Nanaud | 24:be2b2be6907b | 31 | } |
Nanaud | 25:869b1c1f51a7 | 32 | i++; |
Nanaud | 25:869b1c1f51a7 | 33 | |
Nanaud | 24:be2b2be6907b | 34 | } else { |
Nanaud | 24:be2b2be6907b | 35 | for(int j=0; j<6 ; j++) { |
Nanaud | 25:869b1c1f51a7 | 36 | us_dist_moy[j]=us_dist_total[j] / MAXMOY; |
Nanaud | 25:869b1c1f51a7 | 37 | us_dist_total[j]=0; |
Nanaud | 24:be2b2be6907b | 38 | } |
Nanaud | 24:be2b2be6907b | 39 | |
Nanaud | 25:869b1c1f51a7 | 40 | i=0; |
Nanaud | 24:be2b2be6907b | 41 | } |
Nanaud | 24:be2b2be6907b | 42 | } |
Nanaud | 20:7d206773f39e | 43 | |
Nanaud | 20:7d206773f39e | 44 | |
Nanaud | 20:7d206773f39e | 45 | void captUS_trig() |
Nanaud | 20:7d206773f39e | 46 | { |
Nanaud | 25:869b1c1f51a7 | 47 | captUS_convToDist(); |
Nanaud | 20:7d206773f39e | 48 | |
Nanaud | 25:869b1c1f51a7 | 49 | captUS_moyenne(); |
Nanaud | 24:be2b2be6907b | 50 | |
Nanaud | 25:869b1c1f51a7 | 51 | if((objRecule[indiceStrategie]==0) && (action == 2)) { |
Nanaud | 25:869b1c1f51a7 | 52 | if ((us_dist_moy[5] >= (DISTLIM-OFFSET)) && (us_dist_moy[0] >= DISTLIM) && (us_dist_moy[1] >= (DISTLIM-OFFSET))) { |
Nanaud | 25:869b1c1f51a7 | 53 | us_libre = 1; |
Nanaud | 21:e5f0f5abb5ae | 54 | } |
Nanaud | 1:2fe8c402ee79 | 55 | |
Nanaud | 21:e5f0f5abb5ae | 56 | else { |
Nanaud | 20:7d206773f39e | 57 | mot_dis(); |
Nanaud | 25:869b1c1f51a7 | 58 | us_rbt_restart = 1; |
Nanaud | 25:869b1c1f51a7 | 59 | us_libre=0; |
Nanaud | 20:7d206773f39e | 60 | } |
Nanaud | 20:7d206773f39e | 61 | } |
Nanaud | 20:7d206773f39e | 62 | |
Nanaud | 25:869b1c1f51a7 | 63 | else if((objRecule[indiceStrategie]==1) && (action == 2)) { |
Nanaud | 25:869b1c1f51a7 | 64 | if ((us_dist_moy[2] >= (DISTLIM-OFFSET)) && (us_dist_moy[3] >= DISTLIM) && (us_dist_moy[4] >= (DISTLIM-OFFSET))) { |
Nanaud | 25:869b1c1f51a7 | 65 | us_libre=1; |
Nanaud | 21:e5f0f5abb5ae | 66 | } |
Nanaud | 20:7d206773f39e | 67 | |
Nanaud | 21:e5f0f5abb5ae | 68 | else { |
Nanaud | 20:7d206773f39e | 69 | mot_dis(); |
Nanaud | 25:869b1c1f51a7 | 70 | us_rbt_restart = 1; |
Nanaud | 25:869b1c1f51a7 | 71 | us_libre=0; |
Nanaud | 20:7d206773f39e | 72 | } |
Nanaud | 20:7d206773f39e | 73 | } |
Nanaud | 20:7d206773f39e | 74 | |
Nanaud | 22:f891c2bce091 | 75 | TimUS.reset(); |
Nanaud | 0:dc036b67c87c | 76 | trigger=1; |
Nanaud | 0:dc036b67c87c | 77 | wait(0.00002); |
Nanaud | 0:dc036b67c87c | 78 | trigger=0; |
Nanaud | 0:dc036b67c87c | 79 | } |
Nanaud | 0:dc036b67c87c | 80 | |
Nanaud | 20:7d206773f39e | 81 | void echoRise1() |
Nanaud | 20:7d206773f39e | 82 | { |
Nanaud | 25:869b1c1f51a7 | 83 | if(us_verif2[1][0] == false) { |
Nanaud | 22:f891c2bce091 | 84 | us_high[0]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 85 | us_verif2[0][0] = true; |
Nanaud | 21:e5f0f5abb5ae | 86 | } |
Nanaud | 20:7d206773f39e | 87 | } |
Nanaud | 21:e5f0f5abb5ae | 88 | |
Nanaud | 20:7d206773f39e | 89 | void echoFall1() |
Nanaud | 20:7d206773f39e | 90 | { |
Nanaud | 25:869b1c1f51a7 | 91 | if(us_verif2[0][0] == true) { |
Nanaud | 22:f891c2bce091 | 92 | us_low[0]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 93 | us_verif2[1][0] = true; |
Nanaud | 21:e5f0f5abb5ae | 94 | } |
Nanaud | 20:7d206773f39e | 95 | } |
Nanaud | 20:7d206773f39e | 96 | |
Nanaud | 20:7d206773f39e | 97 | void echoRise2() |
Nanaud | 20:7d206773f39e | 98 | { |
Nanaud | 25:869b1c1f51a7 | 99 | if(us_verif2[1][1] == false) { |
Nanaud | 22:f891c2bce091 | 100 | us_high[1]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 101 | us_verif2[0][1] = true; |
Nanaud | 21:e5f0f5abb5ae | 102 | } |
Nanaud | 20:7d206773f39e | 103 | } |
Nanaud | 21:e5f0f5abb5ae | 104 | |
Nanaud | 20:7d206773f39e | 105 | void echoFall2() |
Nanaud | 20:7d206773f39e | 106 | { |
Nanaud | 25:869b1c1f51a7 | 107 | if(us_verif2[0][1] == true) { |
Nanaud | 22:f891c2bce091 | 108 | us_low[1]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 109 | us_verif2[1][1] = true; |
Nanaud | 21:e5f0f5abb5ae | 110 | } |
Nanaud | 20:7d206773f39e | 111 | } |
Nanaud | 20:7d206773f39e | 112 | |
Nanaud | 20:7d206773f39e | 113 | void echoRise3() |
Nanaud | 20:7d206773f39e | 114 | { |
Nanaud | 25:869b1c1f51a7 | 115 | if(us_verif2[1][2] == false) { |
Nanaud | 22:f891c2bce091 | 116 | us_high[2]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 117 | us_verif2[0][2] = true; |
Nanaud | 21:e5f0f5abb5ae | 118 | } |
Nanaud | 20:7d206773f39e | 119 | } |
Nanaud | 21:e5f0f5abb5ae | 120 | |
Nanaud | 20:7d206773f39e | 121 | void echoFall3() |
Nanaud | 20:7d206773f39e | 122 | { |
Nanaud | 25:869b1c1f51a7 | 123 | if(us_verif2[0][2] == true) { |
Nanaud | 22:f891c2bce091 | 124 | us_low[2]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 125 | us_verif2[1][2] = true; |
Nanaud | 21:e5f0f5abb5ae | 126 | } |
Nanaud | 20:7d206773f39e | 127 | } |
Nanaud | 0:dc036b67c87c | 128 | |
Nanaud | 20:7d206773f39e | 129 | void echoRise4() |
Nanaud | 20:7d206773f39e | 130 | { |
Nanaud | 25:869b1c1f51a7 | 131 | if(us_verif2[1][3] == false) { |
Nanaud | 22:f891c2bce091 | 132 | us_high[3]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 133 | us_verif2[0][3] = true; |
Nanaud | 21:e5f0f5abb5ae | 134 | } |
Nanaud | 20:7d206773f39e | 135 | } |
Nanaud | 21:e5f0f5abb5ae | 136 | |
Nanaud | 20:7d206773f39e | 137 | void echoFall4() |
Nanaud | 20:7d206773f39e | 138 | { |
Nanaud | 25:869b1c1f51a7 | 139 | if(us_verif2[0][3] == true) { |
Nanaud | 22:f891c2bce091 | 140 | us_low[3]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 141 | us_verif2[1][3] = true; |
Nanaud | 21:e5f0f5abb5ae | 142 | } |
Nanaud | 20:7d206773f39e | 143 | } |
Nanaud | 0:dc036b67c87c | 144 | |
Nanaud | 20:7d206773f39e | 145 | void echoRise5() |
Nanaud | 20:7d206773f39e | 146 | { |
Nanaud | 25:869b1c1f51a7 | 147 | if(us_verif2[1][4] == false) { |
Nanaud | 22:f891c2bce091 | 148 | us_high[4]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 149 | us_verif2[0][4] = true; |
Nanaud | 21:e5f0f5abb5ae | 150 | } |
Nanaud | 20:7d206773f39e | 151 | } |
Nanaud | 21:e5f0f5abb5ae | 152 | |
Nanaud | 20:7d206773f39e | 153 | void echoFall5() |
Nanaud | 20:7d206773f39e | 154 | { |
Nanaud | 25:869b1c1f51a7 | 155 | if(us_verif2[0][4] == true) { |
Nanaud | 22:f891c2bce091 | 156 | us_low[4]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 157 | us_verif2[1][4] = true; |
Nanaud | 21:e5f0f5abb5ae | 158 | } |
Nanaud | 20:7d206773f39e | 159 | } |
Nanaud | 20:7d206773f39e | 160 | |
Nanaud | 20:7d206773f39e | 161 | void echoRise6() |
Nanaud | 20:7d206773f39e | 162 | { |
Nanaud | 25:869b1c1f51a7 | 163 | if(us_verif2[1][5] == false) { |
Nanaud | 22:f891c2bce091 | 164 | us_high[5]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 165 | us_verif2[0][5] = true; |
Nanaud | 21:e5f0f5abb5ae | 166 | } |
Nanaud | 20:7d206773f39e | 167 | } |
Nanaud | 21:e5f0f5abb5ae | 168 | |
Nanaud | 20:7d206773f39e | 169 | void echoFall6() |
Nanaud | 20:7d206773f39e | 170 | { |
Nanaud | 25:869b1c1f51a7 | 171 | if(us_verif2[0][5] == true) { |
Nanaud | 22:f891c2bce091 | 172 | us_low[5]=TimUS.read_us(); |
Nanaud | 25:869b1c1f51a7 | 173 | us_verif2[1][5] = true; |
Nanaud | 21:e5f0f5abb5ae | 174 | } |
Nanaud | 20:7d206773f39e | 175 | } |
Nanaud | 20:7d206773f39e | 176 | |
Nanaud | 0:dc036b67c87c | 177 | |
Nanaud | 25:869b1c1f51a7 | 178 | void captUS_convToDist() |
Nanaud | 20:7d206773f39e | 179 | { |
Nanaud | 21:e5f0f5abb5ae | 180 | for(int i = 0; i<6; i++) { |
Nanaud | 25:869b1c1f51a7 | 181 | if(us_verif2[0][i] == true && us_verif2[1][i] == true) |
Nanaud | 25:869b1c1f51a7 | 182 | us_dist[i] = (int) (((us_low[i] - us_high[i])*340)/1000); //conversion en distance(mm) |
Nanaud | 25:869b1c1f51a7 | 183 | else |
Nanaud | 25:869b1c1f51a7 | 184 | us_dist[i] = LARGEUR_TAB; |
Nanaud | 20:7d206773f39e | 185 | } |
Nanaud | 20:7d206773f39e | 186 | } |