CRAC Team / CRAC-Strat_2017_homologation_gros_rob_testAck

homologation gros robot et test avec les ack de la carte a tout faire

Fork of CRAC-Strat_2017_HOMOLOGATION_PETIT_ROBOT by CRAC Team

peripheriques/capteurs.cpp@21:7c60d6dfcab5, 2017-05-25 (annotated)

Committer:
ClementBreteau
Date:
Thu May 25 06:36:48 2017 +0000
Revision:
21:7c60d6dfcab5
Parent:
18:cc5fec34ed9c 
homologation gros robot avec test au niveau des ack

Who changed what in which revision?

UserRevisionLine numberNew 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 18:cc5fec34ed9c 30 unsigned short dataTelemetre(void){
ClementBreteau 18:cc5fec34ed9c 31 float distance = telemetre.read()*3.3*1159.6-687.5+98;
ClementBreteau 18:cc5fec34ed9c 32 return (unsigned short)distance;
ClementBreteau 16:7321fb3bb396 33 }
ClementBreteau 16:7321fb3bb396 34
ClementBreteau 16:7321fb3bb396 35 bool dataPressionGauche(void){
ClementBreteau 16:7321fb3bb396 36 if(cptGauche.read())return true;
ClementBreteau 16:7321fb3bb396 37 else return false;
ClementBreteau 16:7321fb3bb396 38 }
ClementBreteau 16:7321fb3bb396 39
ClementBreteau 16:7321fb3bb396 40 bool dataPressionDroit(void){
ClementBreteau 16:7321fb3bb396 41 if(cptDroit.read())return true;
ClementBreteau 16:7321fb3bb396 42 else return false;
ClementBreteau 16:7321fb3bb396 43 }