CharKik & PoulpGas / Mbed 2 deprecated ER3_V2

Ehhh T NUL

Dependencies:   mbed bloc_io mbed-rtos html

main.cpp@6:c785bc12d542, 2019-12-17 (annotated)

Committer:
Couscousiste
Date:
Tue Dec 17 09:58:30 2019 +0000
Revision:
6:c785bc12d542
Parent:
5:e3b59050984c 
Yo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
superphil06 0:e30c9ba95bd4 1 //#include "EthernetInterface.h"
ragas 5:e3b59050984c 2 #define tps 0.1
ragas 5:e3b59050984c 3 #define tpss 0.05
superphil06 0:e30c9ba95bd4 4 #include <stdlib.h>
superphil06 0:e30c9ba95bd4 5 #include <string.h>
superphil06 0:e30c9ba95bd4 6 #include "mbed.h"
superphil06 0:e30c9ba95bd4 7 #include "rtos.h" // need for main thread sleep
superphil06 0:e30c9ba95bd4 8 #include "html.h" // need for html patch working with web server
superphil06 0:e30c9ba95bd4 9 #include "bloc_io.h"
superphil06 0:e30c9ba95bd4 10 #define RADIUS 0.2F // wheel size
superphil06 0:e30c9ba95bd4 11 #define NBPOLES 8 // magnetic pole number
superphil06 0:e30c9ba95bd4 12 #define DELTA_T 0.1F // speed measurement counting period
ragas 1:545a3d6b5933 13 DigitalOut valid(p21);//rajout
ragas 1:545a3d6b5933 14 void Init(int);//rajout
ragas 2:153d417b318b 15 void lecture(void);//permet lecture intern du pld
ragas 1:545a3d6b5933 16 Bloc_IO MyPLD(p25,p26,p5,p6,p7,p8,p9,p10,p23,p24);// instantiate object needed to communicate with PLD
ragas 1:545a3d6b5933 17 // analog input connected to mbed
ragas 1:545a3d6b5933 18 // valid pmw mbed pin
ragas 1:545a3d6b5933 19 Serial pc(USBTX, USBRX); // tx, rx
Couscousiste 6:c785bc12d542 20
ragas 1:545a3d6b5933 21 // Top_Hall Pin
ragas 5:e3b59050984c 22 float pi=3.14159265359;
ragas 1:545a3d6b5933 23 int valref=0 ;//rajout
ragas 4:08e917c15d87 24 int val=0;
ragas 3:a659bef8f6a5 25 float min ;
ragas 3:a659bef8f6a5 26 float max;
ragas 3:a659bef8f6a5 27 int tout;
ragas 3:a659bef8f6a5 28 int Hall;
ragas 3:a659bef8f6a5 29 int direction;
ragas 3:a659bef8f6a5 30 int FLTA;
ragas 3:a659bef8f6a5 31 int frein;
ragas 3:a659bef8f6a5 32 int overcurrent;
ragas 3:a659bef8f6a5 33 float gaz;
Couscousiste 6:c785bc12d542 34 float temp;
Couscousiste 6:c785bc12d542 35 float courrant;
ragas 3:a659bef8f6a5 36
ragas 3:a659bef8f6a5 37
ragas 1:545a3d6b5933 38 //void modulo (int );
ragas 1:545a3d6b5933 39
ragas 1:545a3d6b5933 40 /************ persistent file parameters section *****************/
ragas 1:545a3d6b5933 41 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
superphil06 0:e30c9ba95bd4 42
superphil06 0:e30c9ba95bd4 43
ragas 1:545a3d6b5933 44
ragas 1:545a3d6b5933 45
superphil06 0:e30c9ba95bd4 46
ragas 1:545a3d6b5933 47
ragas 1:545a3d6b5933 48
superphil06 0:e30c9ba95bd4 49 /********************* web server section **********************************/
superphil06 0:e30c9ba95bd4 50
superphil06 0:e30c9ba95bd4 51 var_field_t tab_balise[10]; //une balise est présente dans le squelette
superphil06 0:e30c9ba95bd4 52 int giCounter=0;// acces counting
superphil06 0:e30c9ba95bd4 53
superphil06 0:e30c9ba95bd4 54
superphil06 0:e30c9ba95bd4 55 /*********************** can bus section ************/
ragas 1:545a3d6b5933 56 // determine message ID used to send Gaz ref over can bus
superphil06 0:e30c9ba95bd4 57 #define _CAN_DEBUG // used to debug can bus activity
superphil06 0:e30c9ba95bd4 58 //#define USE_CAN_REF // uncomment to receive gaz ref over can_bus
superphil06 0:e30c9ba95bd4 59 CAN can_port (p30, p29); // initialisation du Bus CAN sur les broches 30 (rd) et 29(td) for lpc1768 + mbed shield
superphil06 0:e30c9ba95bd4 60 bool bCan_Active=false;
superphil06 0:e30c9ba95bd4 61
superphil06 0:e30c9ba95bd4 62
superphil06 0:e30c9ba95bd4 63
superphil06 0:e30c9ba95bd4 64 DigitalOut led1(LED1); //initialisation des Leds présentes sur le micro-controleur Mbed*/
superphil06 0:e30c9ba95bd4 65 DigitalOut led2(LED2);
superphil06 0:e30c9ba95bd4 66 DigitalOut led3(LED3); // blink when can message is sent
ragas 1:545a3d6b5933 67 DigitalOut led4(LED4); // blink when can message is received
superphil06 0:e30c9ba95bd4 68
superphil06 0:e30c9ba95bd4 69
ragas 2:153d417b318b 70 AnalogIn poignee (p17);
ragas 2:153d417b318b 71 FILE*pfile=NULL;
ragas 3:a659bef8f6a5 72 Ticker guidon;
ragas 3:a659bef8f6a5 73
ragas 3:a659bef8f6a5 74
ragas 4:08e917c15d87 75 //************************************************************
ragas 4:08e917c15d87 76 InterruptIn tphall (p22);
ragas 4:08e917c15d87 77 int lire;
ragas 4:08e917c15d87 78 float vitesse;
ragas 4:08e917c15d87 79 int cpthall=0;
ragas 4:08e917c15d87 80 void cpt(void);
ragas 4:08e917c15d87 81 void vit (void);
ragas 4:08e917c15d87 82 Ticker ragas;
ragas 4:08e917c15d87 83 float ray=0.20;
ragas 4:08e917c15d87 84 float Bride;
ragas 5:e3b59050984c 85 Timer charo;
ragas 5:e3b59050984c 86 float d=0;
ragas 5:e3b59050984c 87 float dac;
ragas 5:e3b59050984c 88 int kpar;
ragas 5:e3b59050984c 89 int ktot;
ragas 4:08e917c15d87 90 //************************************************************
ragas 4:08e917c15d87 91
ragas 4:08e917c15d87 92
ragas 3:a659bef8f6a5 93 void task1(void);
ragas 3:a659bef8f6a5 94 int mode ;
ragas 4:08e917c15d87 95 int kirito;
ragas 1:545a3d6b5933 96
superphil06 0:e30c9ba95bd4 97 //************ local function prototypes *******************
superphil06 0:e30c9ba95bd4 98
superphil06 0:e30c9ba95bd4 99
superphil06 0:e30c9ba95bd4 100
superphil06 0:e30c9ba95bd4 101
superphil06 0:e30c9ba95bd4 102
superphil06 0:e30c9ba95bd4 103
ragas 1:545a3d6b5933 104
superphil06 0:e30c9ba95bd4 105 /**************** Read persistent data from text file located on local file system ****************/
superphil06 0:e30c9ba95bd4 106
superphil06 0:e30c9ba95bd4 107
superphil06 0:e30c9ba95bd4 108
superphil06 0:e30c9ba95bd4 109 /**************** write persitant data to text file located on local file system ****************/
superphil06 0:e30c9ba95bd4 110
superphil06 0:e30c9ba95bd4 111
superphil06 0:e30c9ba95bd4 112
superphil06 0:e30c9ba95bd4 113
superphil06 0:e30c9ba95bd4 114
superphil06 0:e30c9ba95bd4 115
superphil06 0:e30c9ba95bd4 116 //************** calibation gaz function needed to record min_gaz and max_gaz value to persistent text file ******************
superphil06 0:e30c9ba95bd4 117
superphil06 0:e30c9ba95bd4 118
superphil06 0:e30c9ba95bd4 119 // ************top hall counting interrupt needed for speed measurement
superphil06 0:e30c9ba95bd4 120
superphil06 0:e30c9ba95bd4 121
superphil06 0:e30c9ba95bd4 122 //********************** timer interrupt for speed measurement each 100ms *************************
superphil06 0:e30c9ba95bd4 123
ragas 1:545a3d6b5933 124
ragas 1:545a3d6b5933 125
ragas 1:545a3d6b5933 126
superphil06 0:e30c9ba95bd4 127
superphil06 0:e30c9ba95bd4 128
superphil06 0:e30c9ba95bd4 129 //********************* Timer Interrupt for gaz ref management each 10ms ********************
superphil06 0:e30c9ba95bd4 130
superphil06 0:e30c9ba95bd4 131
superphil06 0:e30c9ba95bd4 132
superphil06 0:e30c9ba95bd4 133 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 0:e30c9ba95bd4 134 void CGI_Function(void) // cgi function that patch web data to empty web page
ragas 1:545a3d6b5933 135 {
ragas 1:545a3d6b5933 136 char ma_chaine4[20]= {}; // needed to form html response
superphil06 0:e30c9ba95bd4 137
superphil06 0:e30c9ba95bd4 138 }
ragas 1:545a3d6b5933 139
ragas 1:545a3d6b5933 140
ragas 1:545a3d6b5933 141 /*********************** CAN BUS SECTION **********************/
ragas 1:545a3d6b5933 142
superphil06 0:e30c9ba95bd4 143
superphil06 0:e30c9ba95bd4 144
superphil06 0:e30c9ba95bd4 145 void CAN_REC_THREAD(void const *args)
ragas 1:545a3d6b5933 146 {
ragas 1:545a3d6b5933 147 int iCount,iError;
superphil06 0:e30c9ba95bd4 148
ragas 1:545a3d6b5933 149 while (bCan_Active) {
ragas 1:545a3d6b5933 150 Thread::wait(100);// wait 100ms
ragas 1:545a3d6b5933 151 // code todo
ragas 1:545a3d6b5933 152
superphil06 0:e30c9ba95bd4 153 }
ragas 1:545a3d6b5933 154
superphil06 0:e30c9ba95bd4 155 }
ragas 1:545a3d6b5933 156
ragas 1:545a3d6b5933 157
ragas 1:545a3d6b5933 158
superphil06 0:e30c9ba95bd4 159 //*************************** main function *****************************************
ragas 1:545a3d6b5933 160 int main()
ragas 1:545a3d6b5933 161 {
ragas 2:153d417b318b 162 //int x;
ragas 2:153d417b318b 163 //int data_in;
ragas 2:153d417b318b 164 char cChoix;
ragas 1:545a3d6b5933 165 valid.write(0);
ragas 1:545a3d6b5933 166 MyPLD.write(0);
ragas 1:545a3d6b5933 167 valid.write(1);
ragas 2:153d417b318b 168 float gaz;
ragas 4:08e917c15d87 169 mode=0;// mode auto
ragas 3:a659bef8f6a5 170
ragas 2:153d417b318b 171 FILE* pfile = fopen ("/local/ragas.txt","r");
ragas 2:153d417b318b 172 if(pfile!=NULL) {
ragas 5:e3b59050984c 173 fscanf(pfile,"min=%f max=%f bride=%f Kpar=%d Ktot=%d", &min,&max,&Bride,&kpar,&ktot);
ragas 5:e3b59050984c 174 pc.printf("\n min=%f max=%f bride=%f Kpar=% Ktot=%d", min,max,Bride,kpar,ktot);
ragas 2:153d417b318b 175 } else {
ragas 2:153d417b318b 176 pc.printf("erreur");
ragas 2:153d417b318b 177 }
ragas 2:153d417b318b 178 fclose(pfile); // close file
ragas 5:e3b59050984c 179 guidon.attach(&task1,tpss);
superphil06 0:e30c9ba95bd4 180
superphil06 0:e30c9ba95bd4 181
superphil06 0:e30c9ba95bd4 182
superphil06 0:e30c9ba95bd4 183
ragas 4:08e917c15d87 184 //***************************************************************************************
ragas 4:08e917c15d87 185 tphall.rise(&cpt);
ragas 5:e3b59050984c 186 tphall.mode(PullUp);
ragas 5:e3b59050984c 187 ragas.attach(&vit,tps);
ragas 4:08e917c15d87 188 //****************************************************************************************
ragas 4:08e917c15d87 189
ragas 4:08e917c15d87 190
ragas 4:08e917c15d87 191
ragas 4:08e917c15d87 192
ragas 4:08e917c15d87 193
superphil06 0:e30c9ba95bd4 194 //***************************************** web section ********************************************/
superphil06 0:e30c9ba95bd4 195 //Init_Web_Server(&CGI_Function); // create and initialize tcp server socket and pass function pointer to local CGI function
superphil06 0:e30c9ba95bd4 196 //Thread WebThread(Web_Server_Thread);// create and launch web server thread
ragas 1:545a3d6b5933 197 /********* main cgi function used to patch data to the web server thread **********************************/
superphil06 0:e30c9ba95bd4 198
ragas 1:545a3d6b5933 199 //******************************************* end web section ************************************* /
superphil06 0:e30c9ba95bd4 200
superphil06 0:e30c9ba95bd4 201
superphil06 0:e30c9ba95bd4 202
superphil06 0:e30c9ba95bd4 203
ragas 1:545a3d6b5933 204 pc.printf(" programme scooter mbed \n");
superphil06 0:e30c9ba95bd4 205
superphil06 0:e30c9ba95bd4 206
superphil06 0:e30c9ba95bd4 207
superphil06 0:e30c9ba95bd4 208 //********************* can bus section initialisation *******************************************
superphil06 0:e30c9ba95bd4 209 //bCan_Active=true;// needed to lauchn CAN thread
superphil06 0:e30c9ba95bd4 210 //Thread CanThread(CAN_REC_THREAD);// create and launch can receiver thread
superphil06 0:e30c9ba95bd4 211 //********************* end can bus section *****************************************************
superphil06 0:e30c9ba95bd4 212
ragas 2:153d417b318b 213
ragas 1:545a3d6b5933 214 while(cChoix!='q' and cChoix!='Q' /*and cChoix='c'*/) {
ragas 2:153d417b318b 215
ragas 1:545a3d6b5933 216 pc.printf(" veuillez saisir un choix parmi la liste proposee: \r\n");
ragas 1:545a3d6b5933 217 pc.printf(" a:saisie consigne pwm \r\n");
ragas 1:545a3d6b5933 218 pc.printf(" c:lecture interne \r\n");
Couscousiste 6:c785bc12d542 219 pc.printf(" d:%analogique \r\n");
ragas 2:153d417b318b 220 pc.printf(" b:calibration \r\n");
ragas 4:08e917c15d87 221 pc.printf(" v:vitesse\r\n");
ragas 3:a659bef8f6a5 222 pc.printf(" m:mode \r\n");
ragas 4:08e917c15d87 223 pc.printf(" w:valeur bride \r\n");
ragas 5:e3b59050984c 224 pc.printf(" x:reset \r\n ");
ragas 5:e3b59050984c 225 pc.printf(" k:kilometre \r\n");
ragas 1:545a3d6b5933 226 pc.printf(" q:quitter \r\n");
superphil06 0:e30c9ba95bd4 227
ragas 1:545a3d6b5933 228 /************* multithreading : main thread need to sleep in order to allow web response */
ragas 1:545a3d6b5933 229 while (pc.readable()==0) { // determine if char availabler
ragas 1:545a3d6b5933 230 Thread::wait(10); // wait 10 until char available on serial input
ragas 1:545a3d6b5933 231 }
ragas 1:545a3d6b5933 232 /************* end of main thread sleep ****************/
ragas 1:545a3d6b5933 233
ragas 1:545a3d6b5933 234 pc.scanf(" %c",&cChoix);
ragas 1:545a3d6b5933 235 switch (cChoix) {
ragas 1:545a3d6b5933 236 case 'a':
ragas 2:153d417b318b 237
ragas 1:545a3d6b5933 238 printf("donne moi une valeur de pwmref entre 0 et 255:");
ragas 1:545a3d6b5933 239 scanf("%d",&valref);
ragas 2:153d417b318b 240 if(valref<=255) {
ragas 4:08e917c15d87 241 //MyPLD.write(valref);
ragas 2:153d417b318b 242 } else {
ragas 1:545a3d6b5933 243 valref=0;
ragas 3:a659bef8f6a5 244 //MyPLD.write(valref);
ragas 1:545a3d6b5933 245 printf("valeur entre 0 et 255");
ragas 2:153d417b318b 246 }
ragas 1:545a3d6b5933 247 break;
ragas 1:545a3d6b5933 248 case 'c' :
ragas 1:545a3d6b5933 249 lecture();
ragas 2:153d417b318b 250 break;
ragas 2:153d417b318b 251 case 'b':
ragas 2:153d417b318b 252 printf("mettre au min et appuyer sur une touche quand termine\n\r");
ragas 2:153d417b318b 253 getchar();
ragas 2:153d417b318b 254 min=poignee.read();
ragas 2:153d417b318b 255 printf("min=%f\n\r",min);
ragas 2:153d417b318b 256 printf("vmettre au max max et appuyer sur une touche quand termine\n\r");
ragas 2:153d417b318b 257 getchar();
ragas 2:153d417b318b 258 max=poignee.read();
ragas 2:153d417b318b 259 printf("max%f\n\r",max);
ragas 1:545a3d6b5933 260 break;
Couscousiste 6:c785bc12d542 261
Couscousiste 6:c785bc12d542 262 case 'd' :
Couscousiste 6:c785bc12d542 263 Jack();
Couscousiste 6:c785bc12d542 264 break;
Couscousiste 6:c785bc12d542 265
ragas 3:a659bef8f6a5 266 case 'm':
ragas 3:a659bef8f6a5 267 do {
ragas 3:a659bef8f6a5 268 printf("choisissez un mode :0 pour automatique et 1 pour manuel");
ragas 3:a659bef8f6a5 269 scanf("%d",&mode);
ragas 3:a659bef8f6a5 270 } while(mode<0 || mode >1);
ragas 3:a659bef8f6a5 271 break ;
ragas 2:153d417b318b 272 case 'q':
ragas 5:e3b59050984c 273 FILE* pfile = fopen ("/local/ragas.txt","w");
ragas 4:08e917c15d87 274 if(pfile!=NULL)
ragas 5:e3b59050984c 275 fprintf(pfile,"min=%f max=%f bride=%f kpar=%d ktot=%d", min,max,Bride,kpar,ktot);
ragas 4:08e917c15d87 276 fclose(pfile); // close file
ragas 2:153d417b318b 277 valid.write(0);
ragas 2:153d417b318b 278 MyPLD.write(0);
ragas 3:a659bef8f6a5 279 guidon.detach();
ragas 5:e3b59050984c 280 ragas.detach();
ragas 5:e3b59050984c 281 dac=0;
ragas 2:153d417b318b 282 break;
ragas 4:08e917c15d87 283
ragas 4:08e917c15d87 284 case 'v':
ragas 4:08e917c15d87 285 printf ("vitesse :%g m/s \n",vitesse);
ragas 4:08e917c15d87 286 printf ("vitesse :%g km/h \n",vitesse*3.6);
ragas 5:e3b59050984c 287 printf ("vitesse :%g tr/min \n",(vitesse*60)/(2*pi*ray));
ragas 4:08e917c15d87 288 break ;
ragas 4:08e917c15d87 289 case 'w':
ragas 4:08e917c15d87 290 do {
ragas 4:08e917c15d87 291 printf("choisissez une valeur de bride");
ragas 4:08e917c15d87 292 scanf("%g",&Bride);
ragas 4:08e917c15d87 293 } while(Bride<0 || Bride >38.9);
ragas 4:08e917c15d87 294 break ;
ragas 5:e3b59050984c 295
ragas 5:e3b59050984c 296 case 'k':
ragas 5:e3b59050984c 297
ragas 5:e3b59050984c 298 d=(((2*pi*ray)/(6*8))*ktot);
ragas 5:e3b59050984c 299
ragas 5:e3b59050984c 300 printf("distance= %g m\r\n",d);
ragas 5:e3b59050984c 301
ragas 5:e3b59050984c 302 dac=(((2*pi*ray)/(6*8))*kpar);
ragas 5:e3b59050984c 303
ragas 5:e3b59050984c 304 printf("distance= %g m\r\n",dac);
ragas 5:e3b59050984c 305 break;
ragas 5:e3b59050984c 306 case 'x' :
ragas 5:e3b59050984c 307 kpar=0;
ragas 5:e3b59050984c 308 break;
ragas 5:e3b59050984c 309
ragas 5:e3b59050984c 310
ragas 4:08e917c15d87 311
ragas 2:153d417b318b 312 /* case 'q':
ragas 2:153d417b318b 313
ragas 2:153d417b318b 314 frein.read();
ragas 2:153d417b318b 315 DigitalIn flta.read();
ragas 2:153d417b318b 316 DigitalIn overcurrent.read();
ragas 2:153d417b318b 317 DigitalIn direction.read();
ragas 2:153d417b318b 318 HALLA.read();
ragas 2:153d417b318b 319 HALLB.read();
ragas 2:153d417b318b 320 HALLC.read();
ragas 2:153d417b318b 321 break;*/
ragas 1:545a3d6b5933 322 }
ragas 1:545a3d6b5933 323 } // end while
ragas 1:545a3d6b5933 324
ragas 1:545a3d6b5933 325 //************** thread deinit *********************
ragas 1:545a3d6b5933 326 //DeInit_Web_Server();
ragas 1:545a3d6b5933 327 //bCan_Active=false;
ragas 1:545a3d6b5933 328 //CanThread=false;// close can received thread
superphil06 0:e30c9ba95bd4 329 pc.printf(" fin programme scooter mbed \n");
superphil06 0:e30c9ba95bd4 330 } // end main
ragas 1:545a3d6b5933 331
ragas 1:545a3d6b5933 332
ragas 2:153d417b318b 333 void lecture (void)
ragas 2:153d417b318b 334 {
ragas 3:a659bef8f6a5 335 tout = MyPLD.read();
ragas 3:a659bef8f6a5 336 Hall= tout & 7;
ragas 3:a659bef8f6a5 337 direction = tout & 8;
ragas 3:a659bef8f6a5 338 FLTA = tout & 16;
ragas 3:a659bef8f6a5 339 frein = tout &32;
ragas 3:a659bef8f6a5 340 overcurrent = tout &64;
ragas 2:153d417b318b 341 pc.printf("Secteur=%d \t FLTA=%d \t Direction=%d \t Frein=%d \t Overcurrent = %d\n\r",Hall,FLTA,direction,frein,overcurrent);
ragas 3:a659bef8f6a5 342
ragas 3:a659bef8f6a5 343 if(direction==8) { //direction 1=av 0=ar
ragas 2:153d417b318b 344 pc.printf("direction avant\n\r");
ragas 2:153d417b318b 345 } else {
ragas 2:153d417b318b 346 printf("direction arriere\n\r");
ragas 2:153d417b318b 347 }
ragas 3:a659bef8f6a5 348
ragas 2:153d417b318b 349 if(overcurrent==64) { //overcurrent actif=0
ragas 2:153d417b318b 350 pc.printf("surcharge de courant inactif\n\r");
ragas 2:153d417b318b 351 } else {
ragas 2:153d417b318b 352 printf("surcharge de courant actif\n\r");
ragas 2:153d417b318b 353 }
ragas 3:a659bef8f6a5 354
ragas 2:153d417b318b 355 if(FLTA == 16) { //FLTA actif=1
ragas 2:153d417b318b 356 pc.printf("FLTA actif\n\r");
ragas 2:153d417b318b 357 } else {
ragas 2:153d417b318b 358 printf("FLTA inactif\n\r");
ragas 2:153d417b318b 359 }
ragas 3:a659bef8f6a5 360
ragas 2:153d417b318b 361 if(frein == 32) { //brake actif=0
ragas 2:153d417b318b 362 pc.printf("Frein inactif\n\r");
ragas 2:153d417b318b 363 } else {
ragas 2:153d417b318b 364 pc.printf("Frein actif\n\r");
ragas 2:153d417b318b 365 }
ragas 1:545a3d6b5933 366 }
ragas 1:545a3d6b5933 367
ragas 1:545a3d6b5933 368
ragas 3:a659bef8f6a5 369
ragas 3:a659bef8f6a5 370 void task1(void) //0.05seconde
ragas 3:a659bef8f6a5 371 {
ragas 3:a659bef8f6a5 372 tout = MyPLD.read();
ragas 3:a659bef8f6a5 373 Hall= tout & 7;
ragas 3:a659bef8f6a5 374 direction = tout & 8;
ragas 3:a659bef8f6a5 375 FLTA = tout & 16;
ragas 3:a659bef8f6a5 376 frein = tout &32;
ragas 3:a659bef8f6a5 377 overcurrent = tout &64;
ragas 4:08e917c15d87 378
ragas 4:08e917c15d87 379
ragas 3:a659bef8f6a5 380 gaz=poignee.read();
ragas 3:a659bef8f6a5 381 float valPoignee=((255/(max-min))*gaz)-(min*(255)/(max-min));
ragas 3:a659bef8f6a5 382 if(mode==0) { //mode auto
ragas 3:a659bef8f6a5 383 if(frein==0) { //frein actif
ragas 3:a659bef8f6a5 384 val=0;
ragas 3:a659bef8f6a5 385 } else { //frein inactif
ragas 5:e3b59050984c 386
ragas 5:e3b59050984c 387 if(val<valPoignee) { //incrémentation
ragas 5:e3b59050984c 388 val=val+1;
ragas 5:e3b59050984c 389 } else { //bonne valeur
ragas 5:e3b59050984c 390 val=valPoignee;
ragas 5:e3b59050984c 391 }
ragas 5:e3b59050984c 392 if(Bride<vitesse*3.6) {
ragas 5:e3b59050984c 393 val=val-1;
ragas 5:e3b59050984c 394 }
ragas 5:e3b59050984c 395
ragas 5:e3b59050984c 396 if(val<0) {
ragas 5:e3b59050984c 397 val=0;
ragas 5:e3b59050984c 398 }/*
ragas 4:08e917c15d87 399 if(val>valPoignee) { //décrémentation
ragas 4:08e917c15d87 400 val=val-1;
ragas 4:08e917c15d87 401 } else { //bonne valeur
ragas 4:08e917c15d87 402 val=valPoignee;
ragas 4:08e917c15d87 403 }
ragas 4:08e917c15d87 404 if(val>255) {
ragas 4:08e917c15d87 405 val=255;
ragas 4:08e917c15d87 406 }
ragas 4:08e917c15d87 407 if(val<0) {
ragas 4:08e917c15d87 408 val=0;
ragas 4:08e917c15d87 409 }
ragas 4:08e917c15d87 410 kirito=val; //valeur actuel de la pwm dans une variable globale
ragas 4:08e917c15d87 411 } else {
ragas 4:08e917c15d87 412 MyPLD.write(kirito);
ragas 4:08e917c15d87 413 }*/
ragas 3:a659bef8f6a5 414 }
ragas 3:a659bef8f6a5 415 } else { //mode manuel
ragas 3:a659bef8f6a5 416 val=valref; //valeurs dans le case "a"
ragas 3:a659bef8f6a5 417 }
ragas 4:08e917c15d87 418 //val=127;
ragas 3:a659bef8f6a5 419 MyPLD.write(val);
ragas 3:a659bef8f6a5 420 }
ragas 4:08e917c15d87 421 void cpt (void)
ragas 4:08e917c15d87 422 {
ragas 4:08e917c15d87 423 cpthall++;
ragas 4:08e917c15d87 424 }
ragas 3:a659bef8f6a5 425
ragas 4:08e917c15d87 426 void vit (void)
ragas 4:08e917c15d87 427 {
ragas 4:08e917c15d87 428 lire=cpthall;
ragas 4:08e917c15d87 429 cpthall=0;
ragas 5:e3b59050984c 430 vitesse=(((2*pi*ray)/(6*8))*lire)/tps;
ragas 5:e3b59050984c 431 /*if (vitesse!=0)
ragas 5:e3b59050984c 432 {
ragas 5:e3b59050984c 433
ragas 5:e3b59050984c 434 charo.start();
ragas 5:e3b59050984c 435 vitesse=vitesse/3600;
ragas 5:e3b59050984c 436 }
ragas 5:e3b59050984c 437 else
ragas 5:e3b59050984c 438 {
ragas 5:e3b59050984c 439 charo.stop();
ragas 5:e3b59050984c 440 }
ragas 5:e3b59050984c 441
ragas 5:e3b59050984c 442 d=d+vitesse*charo;
ragas 5:e3b59050984c 443 dac=dac+vitesse*charo;
ragas 5:e3b59050984c 444 charo.reset();*/
ragas 5:e3b59050984c 445 kpar=kpar+lire;
ragas 5:e3b59050984c 446 ktot=ktot+lire;
ragas 4:08e917c15d87 447 }
Couscousiste 6:c785bc12d542 448
Couscousiste 6:c785bc12d542 449 void Jack ()
Couscousiste 6:c785bc12d542 450 {
Couscousiste 6:c785bc12d542 451 valGaz=((Vgaz-min)*100)/(max-min);
Couscousiste 6:c785bc12d542 452 x=Vbat.read();
Couscousiste 6:c785bc12d542 453 pc.printf("%g",x);
Couscousiste 6:c785bc12d542 454 valBat=(100*x); //20=val max batterie
Couscousiste 6:c785bc12d542 455 Temp;
Couscousiste 6:c785bc12d542 456 Courrant;
Couscousiste 6:c785bc12d542 457 pc.printf("Poigne : %g \t Batterie : %g \n\r",valGaz,valBat);
Couscousiste 6:c785bc12d542 458 }