CRAC Team / Mbed 2 deprecated carte_esclave201_petit_rob

carte esclave petit robot

Dependencies:   mbed Herkulex_Library_2019 actions_Gr ident_crac actions_Pr

Capteurs/dt.cpp@41:832128353732, 2019-05-25 (annotated)

Committer:
Artiom
Date:
Sat May 25 15:15:30 2019 +0000
Revision:
41:832128353732
Parent:
27:9627700d989f 

        

        
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#include "dt.h"





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//RawSerial pc(USBTX, USBRX,9600);//serie pour debug





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AnalogIn DT1(PB_0);





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AnalogIn DT2(PC_5);





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AnalogIn DT3(PC_4);





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AnalogIn DT4(PA_5);





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InterruptIn DT1_isr(PB_1);





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InterruptIn DT2_isr(PA_7);





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InterruptIn DT3_isr(PA_6);





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InterruptIn DT4_isr(PA_4);





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Timer t;





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double DT1_mes[256]= {0};





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double DT1_trait[256]= {0};





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double DT1_trait_Ex;





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double DT2_mes[256]= {0};





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double DT2_trait[256]= {0};





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double DT2_trait_Ex;





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double DT3_mes[256]= {0};





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double DT3_trait[256]= {0};





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double DT3_trait_Ex;





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double DT4_mes[256]= {0};





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double DT4_trait[256]= {0};





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double DT4_trait_Ex;





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unsigned char DT1_interrupt_Ex;





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unsigned char DT2_interrupt_Ex;





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unsigned char DT3_interrupt_Ex;





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unsigned char DT4_interrupt_Ex;





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unsigned char n = 0;





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bool flag_t=0;





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void f_mesure()





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{





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    if(!flag_t) {





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        t.start();





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        flag_t=1;





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    }





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    if (t.read_ms() >= 4) {





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        n++;





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        DT1.read();//lecture dans le vide le temp que l'adc switch





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        wait_us(100);//attente du switch de l'adc





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        DT1_mes[n]= DT1.read() * A + B;





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        DT1_trait[n] = mediane(DT1_mes, 10);





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        DT1_trait_Ex = DT1_trait[n];





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        DT2.read();//lecture dans le vide le temp que l'adc switch





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        wait_us(100);//attente du switch de l'adc





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        DT2_mes[n]= DT2.read() * A + B;





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        DT2_trait[n] = mediane(DT2_mes, 10);





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        DT2_trait_Ex = DT2_trait[n];





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        DT3.read();//lecture dans le vide le temp que l'adc switch





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        wait_us(100);//attente du switch de l'adc





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        DT3_mes[n]= DT3.read() * A + B;





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        DT3_trait[n] = mediane(DT3_mes, 10);





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        DT3_trait_Ex = DT3_trait[n];





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        DT4.read();//lecture dans le vide le temp que l'adc switch





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        wait_us(100);//attente du switch de l'adc





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        DT4_mes[n]= DT4.read() * A + B;





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        DT4_trait[n] = mediane(DT4_mes, 10);





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        DT4_trait_Ex = DT4_trait[n];





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        t.reset();





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    }





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}





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double mediane(double* buff_med, int size_med)





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{





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    double DT_med[30]= {0};





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    for(unsigned char i =0; i< size_med; i++)DT_med[i] = buff_med[(unsigned char)(n-i)];





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    tri(DT_med, size_med);





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    return DT_med[(int)(size_med/2)];





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}





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void tri(double* tab, int size)





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{





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    for (int i=0; i<size; i++) {





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        for(int j=i; j<size; j++) {





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            if(tab[j]<tab[i]) {





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                double temp = tab[i];





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                tab[i] = tab[j];





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                tab[j] = temp;





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            }





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        }





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    }





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}





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void interrupt()





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{





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    DT1_interrupt_Ex = DT1_isr.read();





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    DT2_interrupt_Ex = DT2_isr.read();





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    DT3_interrupt_Ex = DT3_isr.read();





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    DT4_interrupt_Ex = DT4_isr.read();





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}





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