AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

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

Committer:
g0dd4
Date:
Tue Oct 13 14:50:31 2020 +0000
Revision:
16:4c0b1647e8ae
Parent:
10:0714feaaaee1 
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 : motors.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 5:34ed652f8c31 4 void drv_init()
Nanaud 5:34ed652f8c31 5 {
Nanaud 0:dc036b67c87c 6 mot_dis();
Nanaud 5:34ed652f8c31 7 motGauche_fwd();
Nanaud 6:ea6b30c4bb01 8 //motDroite_fwd();
Nanaud 6:ea6b30c4bb01 9 motDroite_bck();
Nanaud 10:0714feaaaee1 10 drvGauche.moveLinSpeed(0.01);
Nanaud 10:0714feaaaee1 11 drvDroite.moveLinSpeed(0.01);
Nanaud 10:0714feaaaee1 12 //mode = 0b111; // M0, M1 et M2 sont à 1
Nanaud 10:0714feaaaee1 13
Nanaud 10:0714feaaaee1 14 mode_M0 = 1;
Nanaud 10:0714feaaaee1 15 //mode_M1 = 1;
Nanaud 10:0714feaaaee1 16 //mode_M2 = 1;
Nanaud 10:0714feaaaee1 17
Nanaud 10:0714feaaaee1 18 //mot_en();
Nanaud 0:dc036b67c87c 19 }
Nanaud 0:dc036b67c87c 20
Nanaud 0:dc036b67c87c 21 // ENABLE/DISABLE // Les deux modules ont le même enable
Nanaud 10:0714feaaaee1 22
Nanaud 5:34ed652f8c31 23 void mot_en()
Nanaud 5:34ed652f8c31 24 {
Nanaud 10:0714feaaaee1 25 motG_en();
Nanaud 10:0714feaaaee1 26 motD_en();
Nanaud 0:dc036b67c87c 27 }
Nanaud 0:dc036b67c87c 28
Nanaud 5:34ed652f8c31 29 void mot_dis()
Nanaud 5:34ed652f8c31 30 {
Nanaud 10:0714feaaaee1 31 motG_dis();
Nanaud 10:0714feaaaee1 32 motD_dis();
Nanaud 10:0714feaaaee1 33 }
Nanaud 10:0714feaaaee1 34
Nanaud 10:0714feaaaee1 35 void motG_en()
Nanaud 10:0714feaaaee1 36 {
Nanaud 10:0714feaaaee1 37 drvGauche.setEnable(START);
Nanaud 10:0714feaaaee1 38 }
Nanaud 10:0714feaaaee1 39
Nanaud 10:0714feaaaee1 40 void motD_en()
Nanaud 10:0714feaaaee1 41 {
Nanaud 10:0714feaaaee1 42 drvDroite.setEnable(START);
Nanaud 10:0714feaaaee1 43 }
Nanaud 10:0714feaaaee1 44
Nanaud 10:0714feaaaee1 45 void motG_dis()
Nanaud 10:0714feaaaee1 46 {
Nanaud 0:dc036b67c87c 47 drvGauche.setEnable(STOP);
Nanaud 10:0714feaaaee1 48 }
Nanaud 10:0714feaaaee1 49
Nanaud 10:0714feaaaee1 50 void motD_dis()
Nanaud 10:0714feaaaee1 51 {
Nanaud 10:0714feaaaee1 52 drvDroite.setEnable(STOP);
Nanaud 0:dc036b67c87c 53 }
Nanaud 0:dc036b67c87c 54
Nanaud 0:dc036b67c87c 55 // FORWARD
Nanaud 5:34ed652f8c31 56 void motGauche_fwd()
Nanaud 5:34ed652f8c31 57 {
Nanaud 0:dc036b67c87c 58 drvGauche.setDir(FORWARD);
Nanaud 10:0714feaaaee1 59 //drvGauche.setDir(BACKWARD);
Nanaud 0:dc036b67c87c 60 }
Nanaud 0:dc036b67c87c 61
Nanaud 5:34ed652f8c31 62 void motDroite_fwd()
Nanaud 5:34ed652f8c31 63 {
Nanaud 4:ad9b7355332e 64 drvDroite.setDir(BACKWARD);
Nanaud 10:0714feaaaee1 65 //drvDroite.setDir(FORWARD);
Nanaud 0:dc036b67c87c 66 }
Nanaud 0:dc036b67c87c 67
Nanaud 0:dc036b67c87c 68 // BACKWARD
Nanaud 5:34ed652f8c31 69 void motGauche_bck()
Nanaud 5:34ed652f8c31 70 {
Nanaud 0:dc036b67c87c 71 drvGauche.setDir(BACKWARD);
Nanaud 10:0714feaaaee1 72 //drvGauche.setDir(FORWARD);
Nanaud 0:dc036b67c87c 73 }
Nanaud 0:dc036b67c87c 74
Nanaud 5:34ed652f8c31 75 void motDroite_bck()
Nanaud 5:34ed652f8c31 76 {
Nanaud 4:ad9b7355332e 77 drvDroite.setDir(FORWARD);
Nanaud 10:0714feaaaee1 78 //drvDroite.setDir(BACKWARD);
Nanaud 3:3ba377aafdfd 79 }
Nanaud 3:3ba377aafdfd 80
Nanaud 3:3ba377aafdfd 81
Nanaud 6:ea6b30c4bb01 82 // FONCTIONS TESTS
Nanaud 6:ea6b30c4bb01 83 //
Nanaud 5:34ed652f8c31 84 void test_drv()
Nanaud 5:34ed652f8c31 85 {
Nanaud 10:0714feaaaee1 86 /*
Nanaud 3:3ba377aafdfd 87 mot_en();
Nanaud 3:3ba377aafdfd 88 motGauche_fwd();
Nanaud 4:ad9b7355332e 89 motDroite_fwd();
Nanaud 5:34ed652f8c31 90 drvGauche.moveLinSpeed(0.250); // 0.035
Nanaud 5:34ed652f8c31 91 drvDroite.moveLinSpeed(0.250); // 0.035
Nanaud 3:3ba377aafdfd 92 wait(2);
Nanaud 3:3ba377aafdfd 93 motGauche_bck();
Nanaud 4:ad9b7355332e 94 motDroite_bck();
Nanaud 3:3ba377aafdfd 95 wait(2);
Nanaud 3:3ba377aafdfd 96 mot_dis();
Nanaud 10:0714feaaaee1 97 */
Nanaud 10:0714feaaaee1 98
Nanaud 10:0714feaaaee1 99 /*
Nanaud 10:0714feaaaee1 100 mot_en();
Nanaud 10:0714feaaaee1 101 motGauche_fwd();
Nanaud 10:0714feaaaee1 102 motDroite_fwd();
Nanaud 10:0714feaaaee1 103 wait(2);
Nanaud 10:0714feaaaee1 104 mot_dis();
Nanaud 10:0714feaaaee1 105 */
Nanaud 10:0714feaaaee1 106
Nanaud 10:0714feaaaee1 107 mot_en();
Nanaud 10:0714feaaaee1 108 mot_acc();
Nanaud 10:0714feaaaee1 109 wait(2);
Nanaud 10:0714feaaaee1 110 mot_dec();
Nanaud 10:0714feaaaee1 111 mot_dis();
Nanaud 10:0714feaaaee1 112
Nanaud 10:0714feaaaee1 113 drvDroite.moveLinSpeed(0.050);
Nanaud 3:3ba377aafdfd 114 }
Nanaud 3:3ba377aafdfd 115
Nanaud 10:0714feaaaee1 116 void mot_acc()
Nanaud 10:0714feaaaee1 117 {
Nanaud 10:0714feaaaee1 118 double i = 0;
Nanaud 10:0714feaaaee1 119
Nanaud 10:0714feaaaee1 120 while (i < vitesseSAT) {
Nanaud 10:0714feaaaee1 121 bt.printf("mot_acc() => i = %lf\r\n",i);
Nanaud 10:0714feaaaee1 122 drvDroite.moveLinSpeed(i);
Nanaud 10:0714feaaaee1 123 drvGauche.moveLinSpeed(i);
Nanaud 10:0714feaaaee1 124 i+=0.005;
Nanaud 10:0714feaaaee1 125 wait_ms(10);
Nanaud 10:0714feaaaee1 126 }
Nanaud 10:0714feaaaee1 127 }
Nanaud 10:0714feaaaee1 128
Nanaud 10:0714feaaaee1 129 void mot_dec()
Nanaud 10:0714feaaaee1 130 {
Nanaud 10:0714feaaaee1 131 double i = vitesseSAT;
Nanaud 10:0714feaaaee1 132
Nanaud 10:0714feaaaee1 133 while (i > 0) {
Nanaud 10:0714feaaaee1 134 bt.printf("mot_dec() => i = %lf\r\n",i);
Nanaud 10:0714feaaaee1 135 drvDroite.moveLinSpeed(i);
Nanaud 10:0714feaaaee1 136 drvGauche.moveLinSpeed(i);
Nanaud 10:0714feaaaee1 137 i-=0.005;
Nanaud 10:0714feaaaee1 138 wait_ms(10);
Nanaud 10:0714feaaaee1 139 }
Nanaud 10:0714feaaaee1 140 }
Nanaud 10:0714feaaaee1 141
Nanaud 10:0714feaaaee1 142 void testAngle(int cmdAngle) {}