AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
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?
User | Revision | Line number | New 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 | */ |