Contest IOT GSE5 / Mbed 2 deprecated Nucleo_Robotik_2

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Dependencies:   HCSR04 mbed

Fork of Nucleo_Robotik by Contest IOT GSE5

main.cpp@0:c085b14ea8df, 2016-01-05 (annotated)

Committer:
Mickado
Date:
Tue Jan 05 15:18:53 2016 +0000
Revision:
0:c085b14ea8df
Child:
1:47b9204516a0
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Mickado 0:c085b14ea8df 1 #include "mbed.h"
Mickado 0:c085b14ea8df 2 #include "HCSR04.h"
Mickado 0:c085b14ea8df 3
Mickado 0:c085b14ea8df 4 #define ECHO_1 PA_9
Mickado 0:c085b14ea8df 5 #define TRIG_1 PC_7
Mickado 0:c085b14ea8df 6 #define MAXSIZE 10
Mickado 0:c085b14ea8df 7
Mickado 0:c085b14ea8df 8 DigitalIn bp(PUSH);
Mickado 0:c085b14ea8df 9 Serial pc(USBTX, USBRX); //UART
Mickado 0:c085b14ea8df 10 HCSR04 sensor1(TRIG_1, ECHO_1);
Mickado 0:c085b14ea8df 11
Mickado 0:c085b14ea8df 12
Mickado 0:c085b14ea8df 13 int i;
Mickado 0:c085b14ea8df 14 int distance[10]
Mickado 0:c085b14ea8df 15
Mickado 0:c085b14ea8df 16
Mickado 0:c085b14ea8df 17 /*
Mickado 0:c085b14ea8df 18 * fifo de taille size_ contenant des distances de type double, et accessible par les méthodes suivantes :
Mickado 0:c085b14ea8df 19 * -push : ajoute une donnée en entrée de la fifo
Mickado 0:c085b14ea8df 20 * -getn : retourne la distance de profondeur n.
Mickado 0:c085b14ea8df 21 */
Mickado 0:c085b14ea8df 22 class fifo {
Mickado 0:c085b14ea8df 23 public:
Mickado 0:c085b14ea8df 24 void fifo(int n){
Mickado 0:c085b14ea8df 25 size_=n;
Mickado 0:c085b14ea8df 26 }
Mickado 0:c085b14ea8df 27 void push(int value){
Mickado 0:c085b14ea8df 28 for(i=size_-1;i>0;i--){
Mickado 0:c085b14ea8df 29 distance_[i]=distance_[i-1];
Mickado 0:c085b14ea8df 30 }
Mickado 0:c085b14ea8df 31 distance_[0]=value;
Mickado 0:c085b14ea8df 32 }
Mickado 0:c085b14ea8df 33 double getn(int n){
Mickado 0:c085b14ea8df 34 return distance_[n];
Mickado 0:c085b14ea8df 35 }
Mickado 0:c085b14ea8df 36 private :
Mickado 0:c085b14ea8df 37 double distance_[MAXSIZE];
Mickado 0:c085b14ea8df 38 int size_;
Mickado 0:c085b14ea8df 39 }
Mickado 0:c085b14ea8df 40
Mickado 0:c085b14ea8df 41 class PIDController{
Mickado 0:c085b14ea8df 42 public:
Mickado 0:c085b14ea8df 43 PIDController(double Kp, double Ki, double Kd){
Mickado 0:c085b14ea8df 44
Mickado 0:c085b14ea8df 45 }
Mickado 0:c085b14ea8df 46 private:
Mickado 0:c085b14ea8df 47
Mickado 0:c085b14ea8df 48 }
Mickado 0:c085b14ea8df 49
Mickado 0:c085b14ea8df 50 int main() {
Mickado 0:c085b14ea8df 51 fifo fifoDist;
Mickado 0:c085b14ea8df 52 while(1) {
Mickado 0:c085b14ea8df 53 //On mesure la distance et on l'ajoute à la fifo
Mickado 0:c085b14ea8df 54 fifoDist.push(sensor1.distance(1));
Mickado 0:c085b14ea8df 55 wait(0.2);
Mickado 0:c085b14ea8df 56 }
Mickado 0:c085b14ea8df 57 }