AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
main.cpp
- Committer:
- g0dd4
- Date:
- 2020-10-13
- Revision:
- 16:4c0b1647e8ae
- Parent:
- 14:dd3c756c6d48
File content as of revision 16:4c0b1647e8ae:
// Nom du fichier : main.cpp #include "pins.h" void btnFct() { mot_dis(); aff_cd[0] = 0; aff_cd[1] = 0; pc.printf("comptG = %d\r\n",comptG); pc.printf("comptD = %d\r\n",comptD); bt.printf("comptG = %d\r\n",comptG); bt.printf("comptD = %d\r\n",comptD); } int main() { pc.printf("\r\nAresCDFMainCode\r\n"); bt.printf("\r\nAresCDFMainCode\r\n"); btn.rise(&btnFct); // debug pc.attach(&serialIT); // Interruption liaison série bt.attach(&bluetoothIT); // Interruption bluetooth pc.baud(9600); pc.format(8,SerialBase::None,1); bt.baud(9600); bt.format(8,SerialBase::None,1); //ticker_US.attach(&captUS_trig,0.2); // On apelle cette fonction toutes 0.2 secondes //ticker_affUS.attach(&affUltrasons,1.0); ticker_affcd.attach(&affCodeurs,1.0); //ticker_odo.attach(&odoGeonobot1,0.2); //ticker_affodo.attach(&affOdo,1.0); // Init capteurs à ultrasons captUS_init(); echo1.rise(&echoRise1); echo1.fall(&echoFall1); echo2.rise(&echoRise2); echo2.fall(&echoFall2); echo3.rise(&echoRise3); echo3.fall(&echoFall3); echo4.rise(&echoRise4); echo4.fall(&echoFall4); echo5.rise(&echoRise5); echo5.fall(&echoFall5); echo6.rise(&echoRise6); echo6.fall(&echoFall6); // Init DRV8825 drv_init(); // Init codeurs cdgA.rise(&cdgaRise); cddA.rise(&cddaRise); cdgA.mode(PullUp); cddA.mode(PullUp); float* dist; // adresse du tableau distance while(1) { } } /* while(1) { captUS_trig(); dist = convertToDistance(); for(char i = 0; i < 6 ; i++) printf("%d : %f\n\r",i,dist[i]); printf("\n\r"); printf("\n\r"); printf("\n\r"); for(char i = 0; i < 6 ; i++) printf("%d : %d\n\r",i,obstacleSpoted(dist[i],1500,0 ,0,i)); wait(1); } */