AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

motors.cpp@0:dc036b67c87c, 2020-07-08 (annotated)

Committer:
Nanaud
Date:
Wed Jul 08 19:51:28 2020 +0000
Revision:
0:dc036b67c87c
Child:
1:2fe8c402ee79
Code principal du projet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 0:dc036b67c87c 1 #include "pins.h"
Nanaud 0:dc036b67c87c 2
Nanaud 0:dc036b67c87c 3 void drv_init(){
Nanaud 0:dc036b67c87c 4 mot_dis();
Nanaud 0:dc036b67c87c 5 }
Nanaud 0:dc036b67c87c 6
Nanaud 0:dc036b67c87c 7 void test_drv(){
Nanaud 0:dc036b67c87c 8 mot_en();
Nanaud 0:dc036b67c87c 9 motGauche_fwd();
Nanaud 0:dc036b67c87c 10 drvGauche.move(1);
Nanaud 0:dc036b67c87c 11 wait(2);
Nanaud 0:dc036b67c87c 12 motGauche_bck();
Nanaud 0:dc036b67c87c 13 wait(2);
Nanaud 0:dc036b67c87c 14 mot_dis();
Nanaud 0:dc036b67c87c 15 }
Nanaud 0:dc036b67c87c 16
Nanaud 0:dc036b67c87c 17 // ENABLE/DISABLE // Les deux modules ont le même enable
Nanaud 0:dc036b67c87c 18 void mot_en(){
Nanaud 0:dc036b67c87c 19 drvGauche.setEnable(START);
Nanaud 0:dc036b67c87c 20 //drvDroite.setEnable(START);
Nanaud 0:dc036b67c87c 21 }
Nanaud 0:dc036b67c87c 22
Nanaud 0:dc036b67c87c 23 void mot_dis(){
Nanaud 0:dc036b67c87c 24 drvGauche.setEnable(STOP);
Nanaud 0:dc036b67c87c 25 //drvDroite.setEnable(STOP);
Nanaud 0:dc036b67c87c 26 }
Nanaud 0:dc036b67c87c 27
Nanaud 0:dc036b67c87c 28 // FORWARD
Nanaud 0:dc036b67c87c 29 void motGauche_fwd(){
Nanaud 0:dc036b67c87c 30 drvGauche.setDir(FORWARD);
Nanaud 0:dc036b67c87c 31 }
Nanaud 0:dc036b67c87c 32
Nanaud 0:dc036b67c87c 33 void motDroite_fwd(){
Nanaud 0:dc036b67c87c 34 drvDroite.setDir(FORWARD);
Nanaud 0:dc036b67c87c 35 }
Nanaud 0:dc036b67c87c 36
Nanaud 0:dc036b67c87c 37 // BACKWARD
Nanaud 0:dc036b67c87c 38 void motGauche_bck(){
Nanaud 0:dc036b67c87c 39 drvGauche.setDir(BACKWARD);
Nanaud 0:dc036b67c87c 40 }
Nanaud 0:dc036b67c87c 41
Nanaud 0:dc036b67c87c 42 void motDroite_bck(){
Nanaud 0:dc036b67c87c 43 drvDroite.setDir(BACKWARD);
Nanaud 0:dc036b67c87c 44 }