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/Capteur.cpp@0:bc74da1c502f, 2019-05-06 (annotated)

Committer:
Artiom
Date:
Mon May 06 11:18:47 2019 +0000
Revision:
0:bc74da1c502f
Child:
7:553f3f1c2c53
Z

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Artiom 0:bc74da1c502f 1 #include "Capteur.h"
Artiom 0:bc74da1c502f 2 #include "mbed.h"
Artiom 0:bc74da1c502f 3 #include "Actionneurs.h"
Artiom 0:bc74da1c502f 4 #define NOMBRE_TELEMETRE 4
Artiom 0:bc74da1c502f 5 #define precision 5
Artiom 0:bc74da1c502f 6 #define CONSTANTE_TIR 0.639f
Artiom 0:bc74da1c502f 7
Artiom 0:bc74da1c502f 8 ///////////////////////////////////////Capteurs de Contact///////////////////////
Artiom 0:bc74da1c502f 9 DigitalIn capteur_contact_block(PB_15);
Artiom 0:bc74da1c502f 10 DigitalIn capteur_contact1(PB_4);
Artiom 0:bc74da1c502f 11 DigitalIn capteur_contact2(PB_5);
Artiom 0:bc74da1c502f 12 DigitalIn capteur_contact3(PH_1);
Artiom 0:bc74da1c502f 13
Artiom 0:bc74da1c502f 14 /////////////////////////////////////Lecture Batterie////////////////////////////
Artiom 0:bc74da1c502f 15 AnalogIn Val_batterie(PC_2);
Artiom 0:bc74da1c502f 16
Artiom 0:bc74da1c502f 17 ////////////////////////////////////////Télémètres///////////////////////////////
Artiom 0:bc74da1c502f 18 AnalogIn telemetre1(PB_0);
Artiom 0:bc74da1c502f 19 AnalogIn telemetre2(PC_5);
Artiom 0:bc74da1c502f 20 AnalogIn telemetre3(PC_4);
Artiom 0:bc74da1c502f 21 AnalogIn telemetre4(PA_5);
Artiom 0:bc74da1c502f 22 ///////////////////////////////////Capteurs multiCouleurs////////////////////////
Artiom 0:bc74da1c502f 23
Artiom 0:bc74da1c502f 24
Artiom 0:bc74da1c502f 25
Artiom 0:bc74da1c502f 26 /////////////////////////////////////Capteurs monocouleur////////////////////////
Artiom 0:bc74da1c502f 27 DigitalIn monocouleur1(PC_15);
Artiom 0:bc74da1c502f 28 DigitalIn monocouleur2(PC_14);
Artiom 0:bc74da1c502f 29 DigitalIn monocouleur3(PB_10);
Artiom 0:bc74da1c502f 30 DigitalIn monocouleur4(PC_3);
Artiom 0:bc74da1c502f 31
Artiom 0:bc74da1c502f 32 /////////////////////////////////////Capteurs industriels////////////////////////
Artiom 0:bc74da1c502f 33 /*AnalogIn Capteur_indus1(PA_7);
Artiom 0:bc74da1c502f 34 AnalogIn Capteur_indus2(PA_6);
Artiom 0:bc74da1c502f 35 AnalogIn Capteur_indus3(PA_5);
Artiom 0:bc74da1c502f 36 AnalogIn Capteur_indus4(PA_4);
Artiom 0:bc74da1c502f 37 AnalogIn Capteur_indus5(PC_1);
Artiom 0:bc74da1c502f 38 AnalogIn Capteur_indus6(PC_0);*/
Artiom 0:bc74da1c502f 39
Artiom 0:bc74da1c502f 40 short distance_moyenne;
Artiom 0:bc74da1c502f 41
Artiom 0:bc74da1c502f 42 short lecture_telemetre(char numero_telemetre){ // DEGUEUX MAIS FONCTIONNEL :')
Artiom 0:bc74da1c502f 43 //wait(1);
Artiom 0:bc74da1c502f 44 float telemetre_distance=0;
Artiom 0:bc74da1c502f 45 short distance;
Artiom 0:bc74da1c502f 46 long long distance_moyenne_somme=0;
Artiom 0:bc74da1c502f 47 for (unsigned char i=0; i<precision;i++){
Artiom 0:bc74da1c502f 48 if(numero_telemetre==1)
Artiom 0:bc74da1c502f 49 {
Artiom 0:bc74da1c502f 50 telemetre_distance=telemetre1.read();
Artiom 0:bc74da1c502f 51 distance=(((telemetre_distance)-0.2)*4671)+45;
Artiom 0:bc74da1c502f 52 wait_us(100);
Artiom 0:bc74da1c502f 53 telemetre_distance=telemetre1.read();
Artiom 0:bc74da1c502f 54 distance=(((telemetre_distance)-0.2)*4671)+50;
Artiom 0:bc74da1c502f 55 distance+=86;
Artiom 0:bc74da1c502f 56 distance=(distance*0.98)+16.6;
Artiom 0:bc74da1c502f 57 }
Artiom 0:bc74da1c502f 58 else if (numero_telemetre==2)
Artiom 0:bc74da1c502f 59 {
Artiom 0:bc74da1c502f 60 telemetre_distance=telemetre2.read();
Artiom 0:bc74da1c502f 61 distance=(((telemetre_distance)-0.2)*4671)+45;
Artiom 0:bc74da1c502f 62 wait_us(100);
Artiom 0:bc74da1c502f 63 telemetre_distance=telemetre2.read();
Artiom 0:bc74da1c502f 64 distance=(((telemetre_distance)-0.2)*4671)+50;
Artiom 0:bc74da1c502f 65 distance+=86;
Artiom 0:bc74da1c502f 66 distance=(distance*0.975)+25.7;
Artiom 0:bc74da1c502f 67 }
Artiom 0:bc74da1c502f 68 else if (numero_telemetre==3)
Artiom 0:bc74da1c502f 69 {
Artiom 0:bc74da1c502f 70 telemetre_distance=telemetre3.read();
Artiom 0:bc74da1c502f 71 distance=(((telemetre_distance)-0.2)*4671)+45;
Artiom 0:bc74da1c502f 72 wait_us(100);
Artiom 0:bc74da1c502f 73 telemetre_distance=telemetre3.read();
Artiom 0:bc74da1c502f 74 distance=(((telemetre_distance)-0.2)*4671)+50;
Artiom 0:bc74da1c502f 75 distance+=86;
Artiom 0:bc74da1c502f 76 distance=(distance*0.98)+15.6;
Artiom 0:bc74da1c502f 77 }
Artiom 0:bc74da1c502f 78 else if (numero_telemetre==4)
Artiom 0:bc74da1c502f 79 {
Artiom 0:bc74da1c502f 80 telemetre_distance=telemetre4.read();
Artiom 0:bc74da1c502f 81 distance=(((telemetre_distance)-0.2)*4671)+45;
Artiom 0:bc74da1c502f 82 wait_us(100);
Artiom 0:bc74da1c502f 83 telemetre_distance=telemetre4.read();
Artiom 0:bc74da1c502f 84 distance=(((telemetre_distance)-0.2)*4671)+50;
Artiom 0:bc74da1c502f 85 distance+=86;
Artiom 0:bc74da1c502f 86 distance=(distance*0.98)+11.15;
Artiom 0:bc74da1c502f 87 }
Artiom 0:bc74da1c502f 88 distance_moyenne_somme+=distance;
Artiom 0:bc74da1c502f 89 }
Artiom 0:bc74da1c502f 90 distance_moyenne=(distance_moyenne_somme/precision);
Artiom 0:bc74da1c502f 91 wait_us(100);
Artiom 0:bc74da1c502f 92 return distance_moyenne;
Artiom 0:bc74da1c502f 93 }
Artiom 0:bc74da1c502f 94
Artiom 0:bc74da1c502f 95
Artiom 0:bc74da1c502f 96
Artiom 0:bc74da1c502f 97 float Val_puissance(char zone_tir){
Artiom 0:bc74da1c502f 98 float voltage=Val_batterie.read()*3.3f;
Artiom 0:bc74da1c502f 99 float puissance_tir=CONSTANTE_TIR/voltage;
Artiom 0:bc74da1c502f 100 return puissance_tir;
Artiom 0:bc74da1c502f 101 }
Artiom 0:bc74da1c502f 102 int capteur_contact(void){
Artiom 0:bc74da1c502f 103 if(capteur_contact_block.read()==1){
Artiom 0:bc74da1c502f 104 return 1;
Artiom 0:bc74da1c502f 105 }
Artiom 0:bc74da1c502f 106 else{
Artiom 0:bc74da1c502f 107 return 0;
Artiom 0:bc74da1c502f 108 }
Artiom 0:bc74da1c502f 109 }