AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

main.cpp@16:4c0b1647e8ae, 2020-10-13 (annotated)

Committer:
g0dd4
Date:
Tue Oct 13 14:50:31 2020 +0000
Revision:
16:4c0b1647e8ae
Parent:
14:dd3c756c6d48 
Conversion du temps en distance ; Detection d'un obstacle; Changement de base; Test_fonctionnelle ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 1:2fe8c402ee79 1 // Nom du fichier : main.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 14:dd3c756c6d48 4 void btnFct()
Nanaud 14:dd3c756c6d48 5 {
Nanaud 6:ea6b30c4bb01 6 mot_dis();
Nanaud 6:ea6b30c4bb01 7 aff_cd[0] = 0;
Nanaud 6:ea6b30c4bb01 8 aff_cd[1] = 0;
Nanaud 14:dd3c756c6d48 9
Nanaud 6:ea6b30c4bb01 10 pc.printf("comptG = %d\r\n",comptG);
Nanaud 6:ea6b30c4bb01 11 pc.printf("comptD = %d\r\n",comptD);
Nanaud 6:ea6b30c4bb01 12 bt.printf("comptG = %d\r\n",comptG);
Nanaud 6:ea6b30c4bb01 13 bt.printf("comptD = %d\r\n",comptD);
Nanaud 6:ea6b30c4bb01 14 }
Nanaud 6:ea6b30c4bb01 15
Nanaud 4:ad9b7355332e 16 int main()
Nanaud 4:ad9b7355332e 17 {
Nanaud 0:dc036b67c87c 18 pc.printf("\r\nAresCDFMainCode\r\n");
Nanaud 4:ad9b7355332e 19 bt.printf("\r\nAresCDFMainCode\r\n");
Nanaud 4:ad9b7355332e 20
Nanaud 6:ea6b30c4bb01 21 btn.rise(&btnFct);
Nanaud 6:ea6b30c4bb01 22
Nanaud 1:2fe8c402ee79 23 // debug
Nanaud 1:2fe8c402ee79 24 pc.attach(&serialIT); // Interruption liaison série
g0dd4 16:4c0b1647e8ae 25
Nanaud 4:ad9b7355332e 26 bt.attach(&bluetoothIT); // Interruption bluetooth
Nanaud 6:ea6b30c4bb01 27 pc.baud(9600);
Nanaud 6:ea6b30c4bb01 28 pc.format(8,SerialBase::None,1);
Nanaud 6:ea6b30c4bb01 29 bt.baud(9600);
Nanaud 6:ea6b30c4bb01 30 bt.format(8,SerialBase::None,1);
Nanaud 6:ea6b30c4bb01 31
Nanaud 10:0714feaaaee1 32 //ticker_US.attach(&captUS_trig,0.2); // On apelle cette fonction toutes 0.2 secondes
Nanaud 10:0714feaaaee1 33 //ticker_affUS.attach(&affUltrasons,1.0);
Nanaud 14:dd3c756c6d48 34 ticker_affcd.attach(&affCodeurs,1.0);
Nanaud 14:dd3c756c6d48 35 //ticker_odo.attach(&odoGeonobot1,0.2);
Nanaud 14:dd3c756c6d48 36 //ticker_affodo.attach(&affOdo,1.0);
Nanaud 4:ad9b7355332e 37
Nanaud 1:2fe8c402ee79 38 // Init capteurs à ultrasons
Nanaud 1:2fe8c402ee79 39 captUS_init();
Nanaud 0:dc036b67c87c 40 echo1.rise(&echoRise1);
Nanaud 0:dc036b67c87c 41 echo1.fall(&echoFall1);
Nanaud 0:dc036b67c87c 42 echo2.rise(&echoRise2);
Nanaud 0:dc036b67c87c 43 echo2.fall(&echoFall2);
Nanaud 0:dc036b67c87c 44 echo3.rise(&echoRise3);
Nanaud 0:dc036b67c87c 45 echo3.fall(&echoFall3);
Nanaud 0:dc036b67c87c 46 echo4.rise(&echoRise4);
Nanaud 0:dc036b67c87c 47 echo4.fall(&echoFall4);
Nanaud 0:dc036b67c87c 48 echo5.rise(&echoRise5);
Nanaud 0:dc036b67c87c 49 echo5.fall(&echoFall5);
Nanaud 0:dc036b67c87c 50 echo6.rise(&echoRise6);
Nanaud 0:dc036b67c87c 51 echo6.fall(&echoFall6);
Nanaud 4:ad9b7355332e 52
Nanaud 1:2fe8c402ee79 53 // Init DRV8825
Nanaud 0:dc036b67c87c 54 drv_init();
Nanaud 4:ad9b7355332e 55
Nanaud 4:ad9b7355332e 56 // Init codeurs
Nanaud 0:dc036b67c87c 57 cdgA.rise(&cdgaRise);
Nanaud 6:ea6b30c4bb01 58 cddA.rise(&cddaRise);
Nanaud 0:dc036b67c87c 59 cdgA.mode(PullUp);
Nanaud 6:ea6b30c4bb01 60 cddA.mode(PullUp);
g0dd4 16:4c0b1647e8ae 61
g0dd4 16:4c0b1647e8ae 62
g0dd4 16:4c0b1647e8ae 63 float* dist; // adresse du tableau distance
Nanaud 14:dd3c756c6d48 64 while(1) {
g0dd4 16:4c0b1647e8ae 65
Nanaud 14:dd3c756c6d48 66 }
Nanaud 0:dc036b67c87c 67 }
g0dd4 16:4c0b1647e8ae 68 /*
g0dd4 16:4c0b1647e8ae 69 while(1) {
g0dd4 16:4c0b1647e8ae 70 captUS_trig();
g0dd4 16:4c0b1647e8ae 71 dist = convertToDistance();
g0dd4 16:4c0b1647e8ae 72 for(char i = 0; i < 6 ; i++)
g0dd4 16:4c0b1647e8ae 73 printf("%d : %f\n\r",i,dist[i]);
g0dd4 16:4c0b1647e8ae 74
g0dd4 16:4c0b1647e8ae 75 printf("\n\r");
g0dd4 16:4c0b1647e8ae 76 printf("\n\r");
g0dd4 16:4c0b1647e8ae 77 printf("\n\r");
g0dd4 16:4c0b1647e8ae 78
g0dd4 16:4c0b1647e8ae 79
g0dd4 16:4c0b1647e8ae 80
g0dd4 16:4c0b1647e8ae 81 for(char i = 0; i < 6 ; i++)
g0dd4 16:4c0b1647e8ae 82 printf("%d : %d\n\r",i,obstacleSpoted(dist[i],1500,0 ,0,i));
g0dd4 16:4c0b1647e8ae 83
g0dd4 16:4c0b1647e8ae 84
g0dd4 16:4c0b1647e8ae 85
g0dd4 16:4c0b1647e8ae 86 wait(1);
g0dd4 16:4c0b1647e8ae 87 }
g0dd4 16:4c0b1647e8ae 88
g0dd4 16:4c0b1647e8ae 89 */