CharKik & PoulpGas / Mbed 2 deprecated scooter_mbed_etudiant2

squelette de demarrage projet ERS3 IUT NICE GEII

Dependencies:   mbed bloc_io mbed-rtos html EthernetInterface

main.cpp@4:08e917c15d87, 2019-12-03 (annotated)

Committer:
ragas
Date:
Tue Dec 03 08:47:42 2019 +0000
Revision:
4:08e917c15d87
Parent:
3:a659bef8f6a5 
cefdzcd;

Who changed what in which revision?

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