AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
motors.cpp@6:ea6b30c4bb01, 2020-07-26 (annotated)
- Committer:
- Nanaud
- Date:
- Sun Jul 26 09:24:31 2020 +0000
- Revision:
- 6:ea6b30c4bb01
- Parent:
- 5:34ed652f8c31
- Child:
- 10:0714feaaaee1
Fusion des fichiers codeurs et odo_asserv
Who changed what in which revision?
User | Revision | Line number | New 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 | 6:ea6b30c4bb01 | 10 | drvGauche.moveLinSpeed(0.05); |
Nanaud | 6:ea6b30c4bb01 | 11 | drvDroite.moveLinSpeed(0.05); |
Nanaud | 4:ad9b7355332e | 12 | mode = 0b111; // M0, M1 et M2 sont à 1 |
Nanaud | 0:dc036b67c87c | 13 | } |
Nanaud | 0:dc036b67c87c | 14 | |
Nanaud | 0:dc036b67c87c | 15 | // ENABLE/DISABLE // Les deux modules ont le même enable |
Nanaud | 5:34ed652f8c31 | 16 | void mot_en() |
Nanaud | 5:34ed652f8c31 | 17 | { |
Nanaud | 0:dc036b67c87c | 18 | drvGauche.setEnable(START); |
Nanaud | 0:dc036b67c87c | 19 | //drvDroite.setEnable(START); |
Nanaud | 0:dc036b67c87c | 20 | } |
Nanaud | 0:dc036b67c87c | 21 | |
Nanaud | 5:34ed652f8c31 | 22 | void mot_dis() |
Nanaud | 5:34ed652f8c31 | 23 | { |
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 | 5:34ed652f8c31 | 29 | void motGauche_fwd() |
Nanaud | 5:34ed652f8c31 | 30 | { |
Nanaud | 0:dc036b67c87c | 31 | drvGauche.setDir(FORWARD); |
Nanaud | 0:dc036b67c87c | 32 | } |
Nanaud | 0:dc036b67c87c | 33 | |
Nanaud | 5:34ed652f8c31 | 34 | void motDroite_fwd() |
Nanaud | 5:34ed652f8c31 | 35 | { |
Nanaud | 4:ad9b7355332e | 36 | drvDroite.setDir(BACKWARD); |
Nanaud | 0:dc036b67c87c | 37 | } |
Nanaud | 0:dc036b67c87c | 38 | |
Nanaud | 0:dc036b67c87c | 39 | // BACKWARD |
Nanaud | 5:34ed652f8c31 | 40 | void motGauche_bck() |
Nanaud | 5:34ed652f8c31 | 41 | { |
Nanaud | 0:dc036b67c87c | 42 | drvGauche.setDir(BACKWARD); |
Nanaud | 0:dc036b67c87c | 43 | } |
Nanaud | 0:dc036b67c87c | 44 | |
Nanaud | 5:34ed652f8c31 | 45 | void motDroite_bck() |
Nanaud | 5:34ed652f8c31 | 46 | { |
Nanaud | 4:ad9b7355332e | 47 | drvDroite.setDir(FORWARD); |
Nanaud | 3:3ba377aafdfd | 48 | } |
Nanaud | 3:3ba377aafdfd | 49 | |
Nanaud | 3:3ba377aafdfd | 50 | |
Nanaud | 6:ea6b30c4bb01 | 51 | // FONCTIONS TESTS |
Nanaud | 6:ea6b30c4bb01 | 52 | // |
Nanaud | 5:34ed652f8c31 | 53 | void test_drv() |
Nanaud | 5:34ed652f8c31 | 54 | { |
Nanaud | 3:3ba377aafdfd | 55 | mot_en(); |
Nanaud | 3:3ba377aafdfd | 56 | motGauche_fwd(); |
Nanaud | 4:ad9b7355332e | 57 | motDroite_fwd(); |
Nanaud | 5:34ed652f8c31 | 58 | drvGauche.moveLinSpeed(0.250); // 0.035 |
Nanaud | 5:34ed652f8c31 | 59 | drvDroite.moveLinSpeed(0.250); // 0.035 |
Nanaud | 3:3ba377aafdfd | 60 | wait(2); |
Nanaud | 3:3ba377aafdfd | 61 | motGauche_bck(); |
Nanaud | 4:ad9b7355332e | 62 | motDroite_bck(); |
Nanaud | 3:3ba377aafdfd | 63 | wait(2); |
Nanaud | 3:3ba377aafdfd | 64 | mot_dis(); |
Nanaud | 3:3ba377aafdfd | 65 | } |
Nanaud | 3:3ba377aafdfd | 66 | |
Nanaud | 5:34ed652f8c31 | 67 | void testAngle(int cmdAngle){} |