AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
motors.cpp@26:4670968fbc63, 2020-10-28 (annotated)
- Committer:
- g0dd4
- Date:
- Wed Oct 28 23:05:19 2020 +0000
- Revision:
- 26:4670968fbc63
- Parent:
- 22:f891c2bce091
Ajout OFFSET;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nanaud | 22:f891c2bce091 | 1 | /* #include */ |
Nanaud | 0:dc036b67c87c | 2 | #include "pins.h" |
Nanaud | 0:dc036b67c87c | 3 | |
Nanaud | 22:f891c2bce091 | 4 | /* Initialisation des drivers */ |
Nanaud | 5:34ed652f8c31 | 5 | void drv_init() |
Nanaud | 5:34ed652f8c31 | 6 | { |
Nanaud | 0:dc036b67c87c | 7 | mot_dis(); |
Nanaud | 22:f891c2bce091 | 8 | motGauche_fwd(); |
Nanaud | 16:ae65ce77b1f9 | 9 | motDroite_fwd(); |
Nanaud | 16:ae65ce77b1f9 | 10 | |
Nanaud | 10:0714feaaaee1 | 11 | mode_M0 = 1; |
Nanaud | 10:0714feaaaee1 | 12 | //mode_M1 = 1; |
Nanaud | 10:0714feaaaee1 | 13 | //mode_M2 = 1; |
Nanaud | 0:dc036b67c87c | 14 | } |
Nanaud | 0:dc036b67c87c | 15 | |
Nanaud | 22:f891c2bce091 | 16 | /* Activation des moteurs */ |
Nanaud | 22:f891c2bce091 | 17 | void mot_en() // Activation des moteurs |
Nanaud | 10:0714feaaaee1 | 18 | { |
Nanaud | 10:0714feaaaee1 | 19 | drvGauche.setEnable(START); |
Nanaud | 10:0714feaaaee1 | 20 | drvDroite.setEnable(START); |
Nanaud | 10:0714feaaaee1 | 21 | } |
Nanaud | 10:0714feaaaee1 | 22 | |
Nanaud | 22:f891c2bce091 | 23 | /* Désactivation des moteurs */ |
Nanaud | 22:f891c2bce091 | 24 | void mot_dis() // Désactivation des moteurs |
Nanaud | 10:0714feaaaee1 | 25 | { |
Nanaud | 0:dc036b67c87c | 26 | drvGauche.setEnable(STOP); |
Nanaud | 10:0714feaaaee1 | 27 | drvDroite.setEnable(STOP); |
Nanaud | 0:dc036b67c87c | 28 | } |
Nanaud | 0:dc036b67c87c | 29 | |
Nanaud | 22:f891c2bce091 | 30 | /* Rotation moteur vers l'avant */ |
Nanaud | 5:34ed652f8c31 | 31 | void motGauche_fwd() |
Nanaud | 5:34ed652f8c31 | 32 | { |
Nanaud | 0:dc036b67c87c | 33 | drvGauche.setDir(FORWARD); |
Nanaud | 10:0714feaaaee1 | 34 | //drvGauche.setDir(BACKWARD); |
Nanaud | 0:dc036b67c87c | 35 | } |
Nanaud | 0:dc036b67c87c | 36 | |
Nanaud | 5:34ed652f8c31 | 37 | void motDroite_fwd() |
Nanaud | 5:34ed652f8c31 | 38 | { |
Nanaud | 4:ad9b7355332e | 39 | drvDroite.setDir(BACKWARD); |
Nanaud | 10:0714feaaaee1 | 40 | //drvDroite.setDir(FORWARD); |
Nanaud | 0:dc036b67c87c | 41 | } |
Nanaud | 0:dc036b67c87c | 42 | |
Nanaud | 22:f891c2bce091 | 43 | /* Rotation moteur vers l'arrière */ |
Nanaud | 5:34ed652f8c31 | 44 | void motGauche_bck() |
Nanaud | 5:34ed652f8c31 | 45 | { |
Nanaud | 0:dc036b67c87c | 46 | drvGauche.setDir(BACKWARD); |
Nanaud | 10:0714feaaaee1 | 47 | //drvGauche.setDir(FORWARD); |
Nanaud | 0:dc036b67c87c | 48 | } |
Nanaud | 0:dc036b67c87c | 49 | |
Nanaud | 5:34ed652f8c31 | 50 | void motDroite_bck() |
Nanaud | 5:34ed652f8c31 | 51 | { |
Nanaud | 4:ad9b7355332e | 52 | drvDroite.setDir(FORWARD); |
Nanaud | 10:0714feaaaee1 | 53 | //drvDroite.setDir(BACKWARD); |
Nanaud | 3:3ba377aafdfd | 54 | } |
Nanaud | 3:3ba377aafdfd | 55 | |
Nanaud | 22:f891c2bce091 | 56 | /* Changement de vitesse des moteurs */ |
Nanaud | 18:48246daf0c06 | 57 | void vitesseMotG(double vitesse) |
Nanaud | 16:ae65ce77b1f9 | 58 | { |
Nanaud | 18:48246daf0c06 | 59 | drvGauche.moveLinSpeed((double)vitesse); |
Nanaud | 16:ae65ce77b1f9 | 60 | } |
Nanaud | 16:ae65ce77b1f9 | 61 | |
Nanaud | 18:48246daf0c06 | 62 | void vitesseMotD(double vitesse) |
Nanaud | 16:ae65ce77b1f9 | 63 | { |
Nanaud | 18:48246daf0c06 | 64 | drvDroite.moveLinSpeed((double)vitesse); |
Nanaud | 16:ae65ce77b1f9 | 65 | } |
Nanaud | 16:ae65ce77b1f9 | 66 | |
Nanaud | 22:f891c2bce091 | 67 | /* Fonction test des moteurs */ |
Nanaud | 5:34ed652f8c31 | 68 | void test_drv() |
Nanaud | 5:34ed652f8c31 | 69 | { |
Nanaud | 22:f891c2bce091 | 70 | /* Rien */ |
Nanaud | 3:3ba377aafdfd | 71 | } |