AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
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?
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 | 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 | } |