Bibliothèque des éléments du robot
Dependencies: CMPS03 CNY70 GP2A PID Pixy RC_Servo VMA306 mbed
Diff: main.cpp
- Revision:
- 5:6afed0e241cb
- Parent:
- 4:5038b4cd1088
- Child:
- 7:6d58adc26b78
--- a/main.cpp Tue Jun 05 07:29:54 2018 +0000 +++ b/main.cpp Tue Jun 05 08:02:56 2018 +0000 @@ -10,7 +10,7 @@ #define PI 3.1415926535898 Serial pc (PA_2, PA_3, 921600); -PID motor (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5); +//PID motor (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5); CMPS03 boussole (PC_4); @@ -47,7 +47,7 @@ led2 = 0; disquette = 0; - motor.resetPosition(); + //motor.resetPosition(); wait (5); @@ -67,7 +67,7 @@ pc.printf("\rGP2 courte distance = %5.2f\n",sd1.getDistance ()); pc.printf("\rpos = %2.1lf\n",pos); - /*ballon.write (pos); + ballon.write (pos); verrou.write (pos); nbiter++; if (nbiter%5==0) { @@ -78,7 +78,7 @@ pos-=0.1; if (pos<0.1) sens = 1; } - }*/ + } if (UltraSon.isUSGReady()) pc.printf ("\rusG = %5.2lf -", UltraSon.readUSG()); if (UltraSon.isUSBReady()) pc.printf ("\r\t\t usB = %5.2lf -", UltraSon.readUSB()); @@ -101,7 +101,7 @@ } // Square danse !!! - motor.getPosition (&x,&y, &theta); + /*motor.getPosition (&x,&y, &theta); switch (etatmvt) { case 0 : // On avance de 50cm (coordonnés X = 500, Y = 0) @@ -144,7 +144,7 @@ if (theta <= 0) etatmvt = 0; break; } - +*/ pc.printf ("\n"); led1 = !led1; led2 = !led2;