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Dependencies:   mbed RC_Servo VMA306 PID CNY70 CMPS03 GP2A Pixy

Files at this revision

API Documentation at this revision

Comitter:
haarkon
Date:
Thu Oct 24 13:21:27 2019 +0000
Parent:
7:6d58adc26b78
Commit message:
Ready to go

Changed in this revision

PID.lib Show annotated file Show diff for this revision Revisions of this file
RC_Servo.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 6d58adc26b78 -r 2d4887624f94 PID.lib
--- a/PID.lib	Tue Jun 05 13:55:04 2018 +0000
+++ b/PID.lib	Thu Oct 24 13:21:27 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/FRC-Hackathon/code/PID/#4553677e8b99
+https://os.mbed.com/teams/FRC-Hackathon/code/PID/#cf0b7380a45f
diff -r 6d58adc26b78 -r 2d4887624f94 RC_Servo.lib
--- a/RC_Servo.lib	Tue Jun 05 13:55:04 2018 +0000
+++ b/RC_Servo.lib	Thu Oct 24 13:21:27 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/teams/FRC-Hackathon/code/RC_Servo/#014d36c33b73
+https://os.mbed.com/teams/FRC-Hackathon/code/RC_Servo/#ba9a76785a77
diff -r 6d58adc26b78 -r 2d4887624f94 main.cpp
--- a/main.cpp	Tue Jun 05 13:55:04 2018 +0000
+++ b/main.cpp	Thu Oct 24 13:21:27 2019 +0000
@@ -9,9 +9,7 @@
 
 #define PI  3.1415926535898
 
-#define NSpeed  100
-
-Serial      pc          (PA_2, PA_3, 921600);
+Serial      pc          (PA_2, PA_3, 115200);
 PID         motor       (TIM4, TIM3, PA_9, PA_8, PC_9, PC_8, PC_6, PC_5);
 
 CMPS03      boussole    (PC_4);
@@ -20,157 +18,28 @@
 CNY70       ligneG      (PC_2);
 CNY70       exterior    (PA_7);
 
-GP2A        ld1         (PA_4, 20, 150, 55);
-GP2A        sd1         (PB_0, 5, 80, 10);
-
-RC_Servo    ballon      (PB_10, 0);
-RC_Servo    verrou      (PA_15, 0);
+VMA306      ultraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);
 
-VMA306      UltraSon    (PB_15, PA_6, PB_14, PC_7, PB_13, PB_2);
+PIXY        pixy        (PA_0, PA_1, 115200);
 
-PIXY        Pixy        (PA_0, PA_1, 230400);
-
-DigitalIn   bp          (PC_13);
+InterruptIn bp          (PC_13);
 
 DigitalOut  led1        (PA_5);
 DigitalOut  led2        (PD_2);
-DigitalOut  disquette   (PA_12);
+DigitalOut  unused1     (PB_10);
+DigitalOut  unused2     (PA_15);
+DigitalOut  unused3     (PA_12);
+
+DigitalIn   unused4     (PA_4, PullUp);
+DigitalIn   unused5     (PB_0, PullUp);
+DigitalIn   unused6     (PC_1, PullUp);
+DigitalIn   unused7     (PC_0, PullUp);
+
+Timer       temps;
 
 main ()
 {
-    int                 etatmvt = 0;
-    int                 sens = 1, nbiter = 0, nbCC, nbNM;
-    double              pos = 0.5;
-    T_pixyCCBloc        CCBuf;
-    T_pixyNMBloc        NMBuf;
-    double              x, y, theta, vG, vD;
-
-    pc.printf ("\n\rHelloWorld\n");
-    led1 = 1;
-    led2 = 0;
-    disquette = 0;
-    
-    //motor.resetPosition();
-
-    wait (5);
 
     while (1) {
-        pc.printf ("\rCap = %5.2lf\n", boussole.getBearing());
-
-        if (exterior.whatAmIOn())   pc.printf("\rwhite");
-        else                        pc.printf("\rblue ");
-        if (ligneG.whatAmIOn())     pc.printf("\r\twhite");
-        else                        pc.printf("\r\tblue ");
-        if (ligneD.whatAmIOn())     pc.printf("\r\t\twhite\n");
-        else                        pc.printf("\r\t\tblue\n");
-
-        pc.printf ("\r%4.3lf\t %4.3lf\t %4.3lf\n", exterior.getVoltage(), ligneG.getVoltage(), ligneD.getVoltage());
-
-        pc.printf("\rGP2 longue distance = %5.2f\n",ld1.getDistance ());
-        pc.printf("\rGP2 courte distance = %5.2f\n",sd1.getDistance ());
-
-        pc.printf("\rpos = %2.1lf\n",pos);
-        ballon.write (pos);
-        verrou.write (pos);
-        nbiter++;
-        if (nbiter%5==0) {
-            if (sens) {
-                pos += 0.1;
-                if (pos>0.9) sens = 0;
-            } else {
-                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());
-        if (UltraSon.isUSDReady())     pc.printf ("\r\t\t\t\t usD = %5.2lf", UltraSon.readUSD());
-        pc.printf ("\n");
-
-        if (Pixy.checkNewImage()) {
-            Pixy.detectedObject (&nbNM, &nbCC);
-            pc.printf ("\rnbCC = %2d - nbNM = %2d\n", nbCC, nbNM);
-            while (nbCC > 0) {
-                CCBuf = Pixy.getCCBloc ();
-                nbCC--;
-                pc.printf ("\rCC %5d : x=%5d, y=%5d - w=%5d, h=%5d, a=%5d\n", CCBuf.signature, CCBuf.x, CCBuf.y, CCBuf.width, CCBuf.height, (short)CCBuf.angle);
-            }
-            while (nbNM > 0) {
-                NMBuf = Pixy.getNMBloc ();
-                nbNM--;
-                pc.printf ("\rNM %4x : x=%5d, y=%5d - w=%5d, h=%5d\n", NMBuf.signature, NMBuf.x, NMBuf.y, NMBuf.width, NMBuf.height);
-            }
-        }
-
-        // Square danse !!!
-        motor.getPosition (&x,&y, &theta);
-        motor.getSpeed (&vG, &vD);
-
-        pc.printf ("\rEtape = %d : x = %5.1lf, y = %5.1lf, theta = %5.1lf - speedG = %5.1lf, speedD = %5.1lf\n", etatmvt, x, y, 180*theta/PI, vG, vD);
-
-        switch (etatmvt) {
-            case 0 :
-                // On avance de 50cm (coordonnés X = 500, Y = 0)
-                motor.setSpeed (NSpeed,NSpeed);
-                if (x > 300) {
-                    etatmvt = 1;
-                }
-                break;
-            case 1 :
-                // On tourne à droite de 90° (sens antitrigo => négatif) => Angle = -PI/2
-                motor.setSpeed (NSpeed,-NSpeed);
-                if (theta < (-PI/2.0)) {
-                    etatmvt = 2;
-                }
-                break;
-            case 2 :
-                // On avance de 50cm (coordonnés X = 500, Y = -500)
-                motor.setSpeed (NSpeed,NSpeed);
-                if (y < -300)  {
-                    etatmvt = 3;
-                }
-                break;
-            case 3 :
-                // On tourne à droite de 90° (sens antitrigo => négatif) => Angle = -PI (Attention comme -PI = +PI, on teste le rebouclage)
-                motor.setSpeed (NSpeed,-NSpeed);
-                if (theta > 0)  {
-                    etatmvt = 4;
-                }
-                break;
-            case 4 :
-                // On avance de 50cm (coordonnés X = 0, Y = -500)
-                motor.setSpeed (NSpeed,NSpeed);
-                if (x < 0)  {
-                    etatmvt = 5;
-                }
-                break;
-            case 5 :
-                // On tourne à droite de 90° (sens antitrigo => négatif) => Angle = PI/2
-                motor.setSpeed (NSpeed,-NSpeed);
-                if (theta < (PI/2.0))  {
-                    etatmvt = 6;
-                }
-                break;
-            case 6 :
-                // On avance de 50cm (coordonnés X = 0, Y = 0)
-                motor.setSpeed (NSpeed,NSpeed);
-                if (y > 0)  {
-                    etatmvt = 7;
-                }
-                break;
-            case 7 :
-                // On tourne à droite de 90° (sens antitrigo => négatif) => Angle = 0
-                motor.setSpeed (NSpeed,-NSpeed);
-                if (theta < 0) {
-                    etatmvt = 0;
-                }
-                break;
-        }
-
-        pc.printf ("\n\n");
-        led1 = !led1;
-        led2 = !led2;
-        wait (0.2);
     }
 }
\ No newline at end of file
diff -r 6d58adc26b78 -r 2d4887624f94 mbed.bld
--- a/mbed.bld	Tue Jun 05 13:55:04 2018 +0000
+++ b/mbed.bld	Thu Oct 24 13:21:27 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file