AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
motors.cpp@4:ad9b7355332e, 2020-07-18 (annotated)
- Committer:
- Nanaud
- Date:
- Sat Jul 18 17:09:08 2020 +0000
- Revision:
- 4:ad9b7355332e
- Parent:
- 3:3ba377aafdfd
- Child:
- 5:34ed652f8c31
Ajout du debug en Bluetooth (Module HC-05)
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 | 0:dc036b67c87c | 4 | void drv_init(){ |
Nanaud | 0:dc036b67c87c | 5 | mot_dis(); |
Nanaud | 4:ad9b7355332e | 6 | //mot_en(); |
Nanaud | 4:ad9b7355332e | 7 | mode = 0b111; // M0, M1 et M2 sont à 1 |
Nanaud | 0:dc036b67c87c | 8 | } |
Nanaud | 0:dc036b67c87c | 9 | |
Nanaud | 0:dc036b67c87c | 10 | // ENABLE/DISABLE // Les deux modules ont le même enable |
Nanaud | 0:dc036b67c87c | 11 | void mot_en(){ |
Nanaud | 0:dc036b67c87c | 12 | drvGauche.setEnable(START); |
Nanaud | 0:dc036b67c87c | 13 | //drvDroite.setEnable(START); |
Nanaud | 0:dc036b67c87c | 14 | } |
Nanaud | 0:dc036b67c87c | 15 | |
Nanaud | 0:dc036b67c87c | 16 | void mot_dis(){ |
Nanaud | 0:dc036b67c87c | 17 | drvGauche.setEnable(STOP); |
Nanaud | 0:dc036b67c87c | 18 | //drvDroite.setEnable(STOP); |
Nanaud | 0:dc036b67c87c | 19 | } |
Nanaud | 0:dc036b67c87c | 20 | |
Nanaud | 0:dc036b67c87c | 21 | // FORWARD |
Nanaud | 0:dc036b67c87c | 22 | void motGauche_fwd(){ |
Nanaud | 0:dc036b67c87c | 23 | drvGauche.setDir(FORWARD); |
Nanaud | 0:dc036b67c87c | 24 | } |
Nanaud | 0:dc036b67c87c | 25 | |
Nanaud | 0:dc036b67c87c | 26 | void motDroite_fwd(){ |
Nanaud | 4:ad9b7355332e | 27 | drvDroite.setDir(BACKWARD); |
Nanaud | 0:dc036b67c87c | 28 | } |
Nanaud | 0:dc036b67c87c | 29 | |
Nanaud | 0:dc036b67c87c | 30 | // BACKWARD |
Nanaud | 0:dc036b67c87c | 31 | void motGauche_bck(){ |
Nanaud | 0:dc036b67c87c | 32 | drvGauche.setDir(BACKWARD); |
Nanaud | 0:dc036b67c87c | 33 | } |
Nanaud | 0:dc036b67c87c | 34 | |
Nanaud | 0:dc036b67c87c | 35 | void motDroite_bck(){ |
Nanaud | 4:ad9b7355332e | 36 | drvDroite.setDir(FORWARD); |
Nanaud | 3:3ba377aafdfd | 37 | } |
Nanaud | 3:3ba377aafdfd | 38 | |
Nanaud | 3:3ba377aafdfd | 39 | // TESTS |
Nanaud | 3:3ba377aafdfd | 40 | |
Nanaud | 3:3ba377aafdfd | 41 | void test_drv(){ |
Nanaud | 3:3ba377aafdfd | 42 | mot_en(); |
Nanaud | 3:3ba377aafdfd | 43 | motGauche_fwd(); |
Nanaud | 4:ad9b7355332e | 44 | motDroite_fwd(); |
Nanaud | 4:ad9b7355332e | 45 | drvGauche.moveLinSpeed(0.035); |
Nanaud | 4:ad9b7355332e | 46 | drvDroite.moveLinSpeed(0.035); |
Nanaud | 3:3ba377aafdfd | 47 | wait(2); |
Nanaud | 3:3ba377aafdfd | 48 | motGauche_bck(); |
Nanaud | 4:ad9b7355332e | 49 | motDroite_bck(); |
Nanaud | 3:3ba377aafdfd | 50 | wait(2); |
Nanaud | 3:3ba377aafdfd | 51 | mot_dis(); |
Nanaud | 3:3ba377aafdfd | 52 | } |
Nanaud | 3:3ba377aafdfd | 53 | |
Nanaud | 3:3ba377aafdfd | 54 | void testAngle(int cmdAngle){ |
Nanaud | 3:3ba377aafdfd | 55 | |
Nanaud | 0:dc036b67c87c | 56 | } |