test publish
Dependencies: mbed mbed-rtos m3pi
main.cpp@0:2c7bdd6f45e5, 2018-11-23 (annotated)
- Committer:
- bjacque
- Date:
- Fri Nov 23 10:21:15 2018 +0000
- Revision:
- 0:2c7bdd6f45e5
test commit pololu
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bjacque | 0:2c7bdd6f45e5 | 1 | #include "mbed.h" |
bjacque | 0:2c7bdd6f45e5 | 2 | #include "m3pi.h" |
bjacque | 0:2c7bdd6f45e5 | 3 | #include "rtos.h" |
bjacque | 0:2c7bdd6f45e5 | 4 | //#include "MSCFileSystem.h" |
bjacque | 0:2c7bdd6f45e5 | 5 | |
bjacque | 0:2c7bdd6f45e5 | 6 | //DigitalOut myled(LED1); |
bjacque | 0:2c7bdd6f45e5 | 7 | m3pi m3pi; |
bjacque | 0:2c7bdd6f45e5 | 8 | |
bjacque | 0:2c7bdd6f45e5 | 9 | //Serial pc(USBTX,USBRX);//pin pour utiliser le cable usb |
bjacque | 0:2c7bdd6f45e5 | 10 | Serial pc(p28,p27);//pin pour passer par X-bee |
bjacque | 0:2c7bdd6f45e5 | 11 | //DigitalOut resetxbee(p9,p10); |
bjacque | 0:2c7bdd6f45e5 | 12 | //MSCFileSystem fs("fs"); |
bjacque | 0:2c7bdd6f45e5 | 13 | |
bjacque | 0:2c7bdd6f45e5 | 14 | DigitalOut led1(LED1); |
bjacque | 0:2c7bdd6f45e5 | 15 | DigitalOut led2(LED2); |
bjacque | 0:2c7bdd6f45e5 | 16 | |
bjacque | 0:2c7bdd6f45e5 | 17 | int main() { |
bjacque | 0:2c7bdd6f45e5 | 18 | float speed=0.2; |
bjacque | 0:2c7bdd6f45e5 | 19 | /*m3pi.leds(0); |
bjacque | 0:2c7bdd6f45e5 | 20 | m3pi.locate(0,1);*/ |
bjacque | 0:2c7bdd6f45e5 | 21 | m3pi.printf("Suivi simple"); |
bjacque | 0:2c7bdd6f45e5 | 22 | wait(2.0); |
bjacque | 0:2c7bdd6f45e5 | 23 | //m3pi.sensor_auto_calibrate();//calibre les capteurs |
bjacque | 0:2c7bdd6f45e5 | 24 | while(1) { |
bjacque | 0:2c7bdd6f45e5 | 25 | if(pc.readable()){ |
bjacque | 0:2c7bdd6f45e5 | 26 | // Lecture capteurs |
bjacque | 0:2c7bdd6f45e5 | 27 | //m3pi.line_position();//pour lire les capteurs (renvoie un char) |
bjacque | 0:2c7bdd6f45e5 | 28 | // A COMPLETER |
bjacque | 0:2c7bdd6f45e5 | 29 | char car=pc.getc();//passe la commande |
bjacque | 0:2c7bdd6f45e5 | 30 | switch(car) |
bjacque | 0:2c7bdd6f45e5 | 31 | { |
bjacque | 0:2c7bdd6f45e5 | 32 | case 'f' ://avancer |
bjacque | 0:2c7bdd6f45e5 | 33 | m3pi.forward(speed); |
bjacque | 0:2c7bdd6f45e5 | 34 | m3pi.print("Com=f",5); |
bjacque | 0:2c7bdd6f45e5 | 35 | break; |
bjacque | 0:2c7bdd6f45e5 | 36 | case 'b' ://reculer |
bjacque | 0:2c7bdd6f45e5 | 37 | m3pi.backward(speed); |
bjacque | 0:2c7bdd6f45e5 | 38 | m3pi.print("Com=b",5); |
bjacque | 0:2c7bdd6f45e5 | 39 | break; |
bjacque | 0:2c7bdd6f45e5 | 40 | case 'l' ://tourner à gauche |
bjacque | 0:2c7bdd6f45e5 | 41 | m3pi.left(speed); |
bjacque | 0:2c7bdd6f45e5 | 42 | m3pi.print("Com=l",5); |
bjacque | 0:2c7bdd6f45e5 | 43 | break; |
bjacque | 0:2c7bdd6f45e5 | 44 | case 'r' ://tourner à droite |
bjacque | 0:2c7bdd6f45e5 | 45 | m3pi.right(speed); |
bjacque | 0:2c7bdd6f45e5 | 46 | m3pi.print("Com=r",5); |
bjacque | 0:2c7bdd6f45e5 | 47 | break; |
bjacque | 0:2c7bdd6f45e5 | 48 | case 's' ://stopper le robot |
bjacque | 0:2c7bdd6f45e5 | 49 | m3pi.stop(); |
bjacque | 0:2c7bdd6f45e5 | 50 | m3pi.print("Com=s",5); |
bjacque | 0:2c7bdd6f45e5 | 51 | break; |
bjacque | 0:2c7bdd6f45e5 | 52 | case 'u' ://accelérer |
bjacque | 0:2c7bdd6f45e5 | 53 | if(speed<1.0f){speed+=0.2;}; |
bjacque | 0:2c7bdd6f45e5 | 54 | break; |
bjacque | 0:2c7bdd6f45e5 | 55 | case 'd' ://ralentir |
bjacque | 0:2c7bdd6f45e5 | 56 | if(speed>0.0f){speed-=0.2;}; |
bjacque | 0:2c7bdd6f45e5 | 57 | break; |
bjacque | 0:2c7bdd6f45e5 | 58 | default : break; |
bjacque | 0:2c7bdd6f45e5 | 59 | } |
bjacque | 0:2c7bdd6f45e5 | 60 | } |
bjacque | 0:2c7bdd6f45e5 | 61 | } |
bjacque | 0:2c7bdd6f45e5 | 62 | } |
bjacque | 0:2c7bdd6f45e5 | 63 | |
bjacque | 0:2c7bdd6f45e5 | 64 | /*#include "mbed.h" |
bjacque | 0:2c7bdd6f45e5 | 65 | #include "m3pi.h" |
bjacque | 0:2c7bdd6f45e5 | 66 | #include "rtos.h" |
bjacque | 0:2c7bdd6f45e5 | 67 | DigitalOut led1(LED1); |
bjacque | 0:2c7bdd6f45e5 | 68 | DigitalOut led2(LED2); |
bjacque | 0:2c7bdd6f45e5 | 69 | m3pi m3pi; |
bjacque | 0:2c7bdd6f45e5 | 70 | Serial pc (USBTX,USBRX); |
bjacque | 0:2c7bdd6f45e5 | 71 | int main() |
bjacque | 0:2c7bdd6f45e5 | 72 | { |
bjacque | 0:2c7bdd6f45e5 | 73 | unsigned char vecteur; |
bjacque | 0:2c7bdd6f45e5 | 74 | m3pi.leds(0); |
bjacque | 0:2c7bdd6f45e5 | 75 | m3pi.locate(0,1); |
bjacque | 0:2c7bdd6f45e5 | 76 | m3pi.printf("Suivi simple"); |
bjacque | 0:2c7bdd6f45e5 | 77 | wait(2.0); |
bjacque | 0:2c7bdd6f45e5 | 78 | m3pi.sensor_auto_calibrate(); |
bjacque | 0:2c7bdd6f45e5 | 79 | while (1) { |
bjacque | 0:2c7bdd6f45e5 | 80 | // Lecture capteurs |
bjacque | 0:2c7bdd6f45e5 | 81 | m3pi.calibrated_sensors(capteurs); |
bjacque | 0:2c7bdd6f45e5 | 82 | // A COMPLETER |
bjacque | 0:2c7bdd6f45e5 | 83 | } |
bjacque | 0:2c7bdd6f45e5 | 84 | }*/ |