AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode

Code principal du projet

Dependencies:   mbed DRV8825

motors.cpp@26:bb2b778bd351, 2020-11-03 (annotated)

Committer:
Nanaud
Date:
Tue Nov 03 16:29:13 2020 +0000
Revision:
26:bb2b778bd351
Parent:
22:f891c2bce091 
UI

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 22:f891c2bce091 1 /* #include */
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 22:f891c2bce091 4 /* Initialisation des drivers */
Nanaud 5:34ed652f8c31 5 void drv_init()
Nanaud 5:34ed652f8c31 6 {
Nanaud 0:dc036b67c87c 7 mot_dis();
Nanaud 22:f891c2bce091 8 motGauche_fwd();
Nanaud 16:ae65ce77b1f9 9 motDroite_fwd();
Nanaud 16:ae65ce77b1f9 10
Nanaud 10:0714feaaaee1 11 mode_M0 = 1;
Nanaud 10:0714feaaaee1 12 //mode_M1 = 1;
Nanaud 10:0714feaaaee1 13 //mode_M2 = 1;
Nanaud 0:dc036b67c87c 14 }
Nanaud 0:dc036b67c87c 15
Nanaud 22:f891c2bce091 16 /* Activation des moteurs */
Nanaud 22:f891c2bce091 17 void mot_en() // Activation des moteurs
Nanaud 10:0714feaaaee1 18 {
Nanaud 10:0714feaaaee1 19 drvGauche.setEnable(START);
Nanaud 10:0714feaaaee1 20 drvDroite.setEnable(START);
Nanaud 10:0714feaaaee1 21 }
Nanaud 10:0714feaaaee1 22
Nanaud 22:f891c2bce091 23 /* Désactivation des moteurs */
Nanaud 22:f891c2bce091 24 void mot_dis() // Désactivation des moteurs
Nanaud 10:0714feaaaee1 25 {
Nanaud 0:dc036b67c87c 26 drvGauche.setEnable(STOP);
Nanaud 10:0714feaaaee1 27 drvDroite.setEnable(STOP);
Nanaud 0:dc036b67c87c 28 }
Nanaud 0:dc036b67c87c 29
Nanaud 22:f891c2bce091 30 /* Rotation moteur vers l'avant */
Nanaud 5:34ed652f8c31 31 void motGauche_fwd()
Nanaud 5:34ed652f8c31 32 {
Nanaud 0:dc036b67c87c 33 drvGauche.setDir(FORWARD);
Nanaud 10:0714feaaaee1 34 //drvGauche.setDir(BACKWARD);
Nanaud 0:dc036b67c87c 35 }
Nanaud 0:dc036b67c87c 36
Nanaud 5:34ed652f8c31 37 void motDroite_fwd()
Nanaud 5:34ed652f8c31 38 {
Nanaud 4:ad9b7355332e 39 drvDroite.setDir(BACKWARD);
Nanaud 10:0714feaaaee1 40 //drvDroite.setDir(FORWARD);
Nanaud 0:dc036b67c87c 41 }
Nanaud 0:dc036b67c87c 42
Nanaud 22:f891c2bce091 43 /* Rotation moteur vers l'arrière */
Nanaud 5:34ed652f8c31 44 void motGauche_bck()
Nanaud 5:34ed652f8c31 45 {
Nanaud 0:dc036b67c87c 46 drvGauche.setDir(BACKWARD);
Nanaud 10:0714feaaaee1 47 //drvGauche.setDir(FORWARD);
Nanaud 0:dc036b67c87c 48 }
Nanaud 0:dc036b67c87c 49
Nanaud 5:34ed652f8c31 50 void motDroite_bck()
Nanaud 5:34ed652f8c31 51 {
Nanaud 4:ad9b7355332e 52 drvDroite.setDir(FORWARD);
Nanaud 10:0714feaaaee1 53 //drvDroite.setDir(BACKWARD);
Nanaud 3:3ba377aafdfd 54 }
Nanaud 3:3ba377aafdfd 55
Nanaud 22:f891c2bce091 56 /* Changement de vitesse des moteurs */
Nanaud 18:48246daf0c06 57 void vitesseMotG(double vitesse)
Nanaud 16:ae65ce77b1f9 58 {
Nanaud 18:48246daf0c06 59 drvGauche.moveLinSpeed((double)vitesse);
Nanaud 16:ae65ce77b1f9 60 }
Nanaud 16:ae65ce77b1f9 61
Nanaud 18:48246daf0c06 62 void vitesseMotD(double vitesse)
Nanaud 16:ae65ce77b1f9 63 {
Nanaud 18:48246daf0c06 64 drvDroite.moveLinSpeed((double)vitesse);
Nanaud 16:ae65ce77b1f9 65 }
Nanaud 16:ae65ce77b1f9 66
Nanaud 22:f891c2bce091 67 /* Fonction test des moteurs */
Nanaud 5:34ed652f8c31 68 void test_drv()
Nanaud 5:34ed652f8c31 69 {
Nanaud 22:f891c2bce091 70 /* Rien */
Nanaud 3:3ba377aafdfd 71 }