strat des robots
Fork of CRAC-Strat_2017 by
peripheriques/capteurs.cpp@17:d1594579eec6, 2017-05-19 (annotated)
- Committer:
- ClementBreteau
- Date:
- Fri May 19 17:14:07 2017 +0000
- Revision:
- 17:d1594579eec6
- Parent:
- 16:7321fb3bb396
strat du robot, 19-05-2017, 19h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ClementBreteau | 16:7321fb3bb396 | 1 | #include "peripheriques.h" |
ClementBreteau | 16:7321fb3bb396 | 2 | |
ClementBreteau | 16:7321fb3bb396 | 3 | AnalogIn cptGauche(p20); |
ClementBreteau | 16:7321fb3bb396 | 4 | AnalogIn cptDroit(p19); |
ClementBreteau | 16:7321fb3bb396 | 5 | |
ClementBreteau | 16:7321fb3bb396 | 6 | DigitalIn pressionGauche(p23); |
ClementBreteau | 16:7321fb3bb396 | 7 | DigitalIn pressionDroit(p24); |
ClementBreteau | 16:7321fb3bb396 | 8 | |
ClementBreteau | 16:7321fb3bb396 | 9 | AnalogIn telemetre(p15); |
ClementBreteau | 16:7321fb3bb396 | 10 | |
ClementBreteau | 16:7321fb3bb396 | 11 | //DigitalIn jack(p25); |
ClementBreteau | 16:7321fb3bb396 | 12 | |
ClementBreteau | 16:7321fb3bb396 | 13 | |
ClementBreteau | 16:7321fb3bb396 | 14 | bool dataCouleurGauche(void){ |
ClementBreteau | 16:7321fb3bb396 | 15 | bool couleurOK = false; |
ClementBreteau | 16:7321fb3bb396 | 16 | if(cptGauche.read() < 0.3){ |
ClementBreteau | 16:7321fb3bb396 | 17 | couleurOK = true; |
ClementBreteau | 16:7321fb3bb396 | 18 | } |
ClementBreteau | 16:7321fb3bb396 | 19 | return couleurOK; |
ClementBreteau | 16:7321fb3bb396 | 20 | } |
ClementBreteau | 16:7321fb3bb396 | 21 | |
ClementBreteau | 16:7321fb3bb396 | 22 | bool dataCouleurDroit(void){ |
ClementBreteau | 16:7321fb3bb396 | 23 | bool couleurOK = false; |
ClementBreteau | 16:7321fb3bb396 | 24 | if(cptDroit.read() < 0.3){ |
ClementBreteau | 16:7321fb3bb396 | 25 | couleurOK = true; |
ClementBreteau | 16:7321fb3bb396 | 26 | } |
ClementBreteau | 16:7321fb3bb396 | 27 | return couleurOK; |
ClementBreteau | 16:7321fb3bb396 | 28 | } |
ClementBreteau | 16:7321fb3bb396 | 29 | |
ClementBreteau | 16:7321fb3bb396 | 30 | short dataTelemetre(void){ |
ClementBreteau | 16:7321fb3bb396 | 31 | return telemetre.read_u16(); |
ClementBreteau | 16:7321fb3bb396 | 32 | } |
ClementBreteau | 16:7321fb3bb396 | 33 | |
ClementBreteau | 16:7321fb3bb396 | 34 | bool dataPressionGauche(void){ |
ClementBreteau | 16:7321fb3bb396 | 35 | if(cptGauche.read())return true; |
ClementBreteau | 16:7321fb3bb396 | 36 | else return false; |
ClementBreteau | 16:7321fb3bb396 | 37 | } |
ClementBreteau | 16:7321fb3bb396 | 38 | |
ClementBreteau | 16:7321fb3bb396 | 39 | bool dataPressionDroit(void){ |
ClementBreteau | 16:7321fb3bb396 | 40 | if(cptDroit.read())return true; |
ClementBreteau | 16:7321fb3bb396 | 41 | else return false; |
ClementBreteau | 16:7321fb3bb396 | 42 | } |