AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_us2

Test

Dependencies:   mbed DRV8825

main.cpp@19:c419033c0967, 2020-10-12 (annotated)

Committer:
Nanaud
Date:
Mon Oct 12 19:17:40 2020 +0000
Revision:
19:c419033c0967
Parent:
17:176a1b4a2fa8
Child:
20:7d206773f39e
Dernieres modifs

Who changed what in which revision?

UserRevisionLine numberNew 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 19:c419033c0967 16 /*
Nanaud 19:c419033c0967 17 void cordonDem()
Nanaud 19:c419033c0967 18 {
Nanaud 19:c419033c0967 19 indice++;
Nanaud 19:c419033c0967 20 fnc = objEtape[indice];
Nanaud 19:c419033c0967 21 xC = objX[indice];
Nanaud 19:c419033c0967 22 yC = objY[indice];
Nanaud 19:c419033c0967 23 mot_en();
Nanaud 19:c419033c0967 24 }
Nanaud 19:c419033c0967 25 */
Nanaud 19:c419033c0967 26
Nanaud 4:ad9b7355332e 27 int main()
Nanaud 4:ad9b7355332e 28 {
Nanaud 0:dc036b67c87c 29 pc.printf("\r\nAresCDFMainCode\r\n");
Nanaud 4:ad9b7355332e 30 bt.printf("\r\nAresCDFMainCode\r\n");
Nanaud 4:ad9b7355332e 31
Nanaud 6:ea6b30c4bb01 32 btn.rise(&btnFct);
Nanaud 19:c419033c0967 33 //cordon.fall(&cordonDem);
Nanaud 6:ea6b30c4bb01 34
Nanaud 1:2fe8c402ee79 35 // debug
Nanaud 1:2fe8c402ee79 36 pc.attach(&serialIT); // Interruption liaison série
Nanaud 4:ad9b7355332e 37 bt.attach(&bluetoothIT); // Interruption bluetooth
Nanaud 6:ea6b30c4bb01 38 pc.baud(9600);
Nanaud 6:ea6b30c4bb01 39 pc.format(8,SerialBase::None,1);
Nanaud 6:ea6b30c4bb01 40 bt.baud(9600);
Nanaud 6:ea6b30c4bb01 41 bt.format(8,SerialBase::None,1);
Nanaud 6:ea6b30c4bb01 42
Nanaud 10:0714feaaaee1 43 //ticker_US.attach(&captUS_trig,0.2); // On apelle cette fonction toutes 0.2 secondes
Nanaud 10:0714feaaaee1 44 //ticker_affUS.attach(&affUltrasons,1.0);
Nanaud 16:ae65ce77b1f9 45 //ticker_affcd.attach(&affCodeurs,1.0);
Nanaud 16:ae65ce77b1f9 46 //ticker_odo.attach(&odo2,0.02);
Nanaud 19:c419033c0967 47 ticker_asserv.attach(&asserv,0.015);
Nanaud 14:dd3c756c6d48 48 //ticker_affodo.attach(&affOdo,1.0);
Nanaud 4:ad9b7355332e 49
Nanaud 1:2fe8c402ee79 50 // Init capteurs à ultrasons
Nanaud 1:2fe8c402ee79 51 captUS_init();
Nanaud 0:dc036b67c87c 52 echo1.rise(&echoRise1);
Nanaud 0:dc036b67c87c 53 echo1.fall(&echoFall1);
Nanaud 0:dc036b67c87c 54 echo2.rise(&echoRise2);
Nanaud 0:dc036b67c87c 55 echo2.fall(&echoFall2);
Nanaud 0:dc036b67c87c 56 echo3.rise(&echoRise3);
Nanaud 0:dc036b67c87c 57 echo3.fall(&echoFall3);
Nanaud 0:dc036b67c87c 58 echo4.rise(&echoRise4);
Nanaud 0:dc036b67c87c 59 echo4.fall(&echoFall4);
Nanaud 0:dc036b67c87c 60 echo5.rise(&echoRise5);
Nanaud 0:dc036b67c87c 61 echo5.fall(&echoFall5);
Nanaud 0:dc036b67c87c 62 echo6.rise(&echoRise6);
Nanaud 0:dc036b67c87c 63 echo6.fall(&echoFall6);
Nanaud 4:ad9b7355332e 64
Nanaud 1:2fe8c402ee79 65 // Init DRV8825
Nanaud 0:dc036b67c87c 66 drv_init();
Nanaud 4:ad9b7355332e 67
Nanaud 4:ad9b7355332e 68 // Init codeurs
Nanaud 0:dc036b67c87c 69 cdgA.rise(&cdgaRise);
Nanaud 6:ea6b30c4bb01 70 cddA.rise(&cddaRise);
Nanaud 0:dc036b67c87c 71 cdgA.mode(PullUp);
Nanaud 6:ea6b30c4bb01 72 cddA.mode(PullUp);
Nanaud 4:ad9b7355332e 73
Nanaud 14:dd3c756c6d48 74 while(1) {
Nanaud 19:c419033c0967 75 if (indice>=4) {
Nanaud 19:c419033c0967 76 fnc = 0;
Nanaud 19:c419033c0967 77 mot_dis();
Nanaud 19:c419033c0967 78 }
Nanaud 19:c419033c0967 79
Nanaud 14:dd3c756c6d48 80 }
Nanaud 0:dc036b67c87c 81 }