CharKik & PoulpGas / Mbed 2 deprecated scooter_mbed_etudiant

squelette de demarrage projet ERS3 IUT NICE GEII

Dependencies:   mbed bloc_io mbed-rtos html EthernetInterface

main.cpp@5:e3b59050984c, 2019-12-17 (annotated)

Committer:
ragas
Date:
Tue Dec 17 09:04:10 2019 +0000
Revision:
5:e3b59050984c
Parent:
4:08e917c15d87 
jhdf

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