FRC - Hackathon
Programme de test à priori fonctionnel avec la version 2018 de la carte
Dependencies: PwmIn mbed Encoder_Nucleo_16_bits
Diff: main.cpp
- Revision:
- 9:2d99e9946b89
- Parent:
- 6:88b4805d33e1
- Child:
- 10:c6db803927b6
--- a/main.cpp Wed Apr 11 11:26:30 2018 +0000
+++ b/main.cpp Wed Oct 23 09:30:24 2019 +0000
@@ -115,101 +115,102 @@
/** Liste des PINs
*
* PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée
- * PA_0 -> Pixy RX (Serial)
- * PA_1 -> Pixy TX (Serial)
- * PA_2 -> PC TX (Serial)
- * PA_3 -> PX RX (Serial)
- * PA_4 -> GP2 SD #2 (Analog In)
- * PA_5 -> LED1 (Digital Out)
- * PA_6 -> CNY3 (Analog In)
- * PA_7 -> CNY2 (Analog In)
- * PA_8 -> Servomoteur (PWM Out)
- * PA_9 -> US Trigger #3 (Digital Out)
- * PA_10 -> US Echo #1 (Pwm In)
- * PA_11 -> US Echo #2 (Pwm In)
- * PA_12 -> SS (SPI Slave Select) (Digital Out)
+ *
+ * PA_0 -> Pixy RX (Serial) -> OK
+ * PA_1 -> Pixy TX (Serial) -> OK
+ * PA_2 -> PC TX (Serial) -> OK
+ * PA_3 -> PX RX (Serial) -> OK
+ * PA_4 -> GP2 SD #2 (Analog In) -> OK
+ * PA_5 -> LED1 (Digital Out) -> OK
+ * PA_6 -> US D Echo (IRQ In) -> OK
+ * PA_7 -> CNY #1 (Analog In) -> OK
+ * PA_8 -> MotD PWM (PWM Out) -> OK
+ * PA_9 -> MotG PWM (PWM Out) -> OK
+ * PA_10 -> MotD speed (IRQ In) -> OK
+ * PA_11 -> MotG speed (IRQ In) -> OK
+ * PA_12 ->
* PA_13
* PA_14
- * PA_15 -> Boussole (Pwm In)
+ * PA_15 -> Servomoteur (PWM Out) -> OK
*
- * PB_0 -> GP2 SD #1 (Analog In)
- * PB_1 -> Position D (Pwm In)
- * PB_2 -> Position G (Pwm In)
- * PB_3 -> PWM Mot D (PWM Out)
- * PB_4 -> Enocdeur Droit A (QE)
- * PB_5 -> Enocdeur Droit B (QE)
- * PB_6 -> Enocdeur Gauche A (QE)
- * PB_7 -> Enocdeur Gauche B (QE)
- * PB_8 -> SCL (I2C)
- * PB_9 -> SDA (I2C)
- * PB_10 -> PWM Mot G (PWM Out)
+ * PB_0 -> GP2 SD #1 (Analog In) -> OK
+ * PB_1 -> Vbat (Analog In) -> OK
+ * PB_2 -> US G Echo (IRQ In) -> OK
+ * PB_3 -> SS G (Digital Out) -> OK
+ * PB_4 -> Enocdeur Droit A (QE) -> OK
+ * PB_5 -> Enocdeur Droit B (QE) -> OK
+ * PB_6 -> Enocdeur Gauche A (QE) -> OK
+ * PB_7 -> Enocdeur Gauche B (QE) -> OK
+ * PB_8 -> SCL (I2C) -> OK
+ * PB_9 -> SDA (I2C) -> OK
+ * PB_10 ->
* PB_11
- * PB_12 -> US Echo #3 (Pwm In)
- * PB_13 -> SCK Encodeur D (SPI)
- * PB_14 -> MISO Encodeur D (SPI)
- * PB_15 -> MOSI Encodeur D (SPI)
+ * PB_12 -> SS D (Digital Out) -> OK
+ * PB_13 -> US G Trig (Digital Out) -> OK
+ * PB_14 -> US F Trig (Digital Out) -> OK
+ * PB_15 -> US D Trig (Digital Out) -> OK
*
- * PC_0 -> GP2 LD #1 (Analog In)
- * PC_1 -> GP2 LD #2 (Analog In)
- * PC_2 -> US Trigger #2 (Digital Out)
- * PC_3 -> US Trigger #1 (Digital Out)
- * PC_4 -> CNY1 (Analog In)
- * PC_5 -> Vbat (Analog In)
- * PC_6 -> Dir Mot Droit (Digital Out)
- * PC_7 -> I (Encodeur Gauche) (IRQ In)
- * PC_8 -> Dir Mot Gauche (Digital Out)
- * PC_9 -> Enable Moteurs (Digital Out)
- * PC_10 -> SCK Encodeur G (SPI)
- * PC_11 -> MISO Encodeur G (SPI)
- * PC_12 -> MOSI Encodeur G (SPI)
- * PC_13 -> User BP (IRQ In)
+ * PC_0 -> GP2 LD #1 (Analog In) -> OK
+ * PC_1 -> GP2 LD #2 (Analog In) -> OK
+ * PC_2 -> CNY #2 (Analog In) -> OK
+ * PC_3 -> CNY #3 (Analog In) -> OK
+ * PC_4 -> Boussole (Pwm In) -> OK
+ * PC_5 -> MotD IN2 (Digital Out) -> OK
+ * PC_6 -> MotD IN1 (Digital Out) -> OK
+ * PC_7 -> US F Echo (IRQ In) -> OK
+ * PC_8 -> MotG IN2 (Digital Out) -> OK
+ * PC_9 -> MotG IN1 (Digital Out) -> OK
+ * PC_10 -> SCK (SPI) -> OK
+ * PC_11 -> MISO (SPI) -> OK
+ * PC_12 -> MOSI (SPI) -> OK
+ * PC_13 -> User BP (IRQ In) -> OK
* PC_14
* PC_15
*
* PD_1
- * PD_2 -> Led2 (Digital Out)
+ * PD_2 -> Led2 (Digital Out) -> OK
*/
Serial Pixy (PA_0, PA_1, 230400);
Serial Pc (PA_2, PA_3, 921600);
-AnalogIn CNY1 (PC_4);
-AnalogIn CNY2 (PA_7);
-AnalogIn CNY3 (PA_6);
+AnalogIn SD2 (PA_4);
+AnalogIn CNY1 (PA_7);
+AnalogIn SD1 (PB_0);
+AnalogIn Vbat (PB_1);
AnalogIn LD1 (PC_0);
AnalogIn LD2 (PC_1);
-AnalogIn SD1 (PB_0);
-AnalogIn SD2 (PA_4);
-AnalogIn Vbat (PC_5);
+AnalogIn CNY2 (PC_2);
+AnalogIn CNY3 (PC_3);
DigitalOut Led1 (PA_5);
+DigitalOut SSG (PB_3);
+DigitalOut SSD (PB_12);
+DigitalOut Trig1 (PB_13);
+DigitalOut Trig2 (PB_14);
+DigitalOut Trig3 (PB_15);
DigitalOut Led2 (PD_2);
-DigitalOut Trig1 (PC_3);
-DigitalOut Trig2 (PC_2);
-DigitalOut Trig3 (PA_9);
-DigitalOut En (PC_9);
-DigitalOut SensG (PC_8);
-DigitalOut SensD (PC_6);
-DigitalOut SS (PA_12);
+DigitalOut IN1G (PC_9);
+DigitalOut IN2G (PC_8);
+DigitalOut IN1D (PC_6);
+DigitalOut IN2D (PC_5);
-InterruptIn Echo1 (PA_10);
-InterruptIn Echo2 (PA_11);
-InterruptIn Echo3 (PB_12);
+InterruptIn Echo3 (PA_6);
+InterruptIn PWMD (PA_10);
+InterruptIn PWMG (PA_11);
+InterruptIn Echo1 (PB_2);
+InterruptIn Echo2 (PC_7);
InterruptIn BP (PC_13);
-InterruptIn IG (PC_7);
-InterruptIn PWMG (PB_2);
-InterruptIn PWMD (PB_1);
+
+PwmIn PWMB (PC_4);
-PwmIn PWMB (PA_15);
-
-PwmOut Pwm_MG (PB_10);
-PwmOut Pwm_MD (PB_3);
-PwmOut Servo (PA_8);
+PwmOut Pwm_MG (PA_9);
+PwmOut Pwm_MD (PA_8);
+PwmOut Servo (PA_15);
I2C Bus_I2C (PB_9, PB_8);
-SPI SPIG (PC_12, PC_11, PC_10);
-SPI SPID (PB_15, PB_14, PB_13);
+SPI mySPI (PC_12, PC_11, PC_10);
Nucleo_Encoder_16_bits Gauche (TIM4); // A = PB_6, B = PB_7
Nucleo_Encoder_16_bits Droite (TIM3); // A = PB_4, B = PB_5
@@ -456,6 +457,7 @@
int MOTG_evol = 1, MOTD_evol = 1;
double MOTG_duty = 0.5, MOTD_duty = 0.5;
+ int SensG = 1, SensD = 1;
times.reset();
times.start();
@@ -478,7 +480,6 @@
Pixy.attach (&getPixyByte);
BP.enable_irq();
- IG.enable_irq();
Echo1.enable_irq();
Echo2.enable_irq();
Echo3.enable_irq();
@@ -492,17 +493,18 @@
// PWM des moteurs
Pwm_MG.period_us(50);
Pwm_MD.period_us(50);
- En = 0;
-
+ IN1G = 0;
+ IN2G = 0;
+ IN1D = 0;
+ IN2D = 0;
+
// Bus SPI
- SPIG.format (16,1);
- SPIG.frequency (1000000);
+ mySPI.format (16,1);
+ mySPI.frequency (1000000);
- SPID.format (16,1);
- SPID.frequency (1000000);
-
- SS = 1;
-
+ SSG = 1;
+ SSD = 1;
+
// Led
Led2 = 0;
@@ -713,12 +715,14 @@
Pc.printf ("\n\n\rMoteur Gauche\n");
Pc.printf ("\rAppuyez sur Entree pour quitter\n");
- En = 1;
- SensG = 1;
+ if (SensG) {
+ IN1G = 1;
+ IN2G = 0;
+ } else {
+ IN1G = 0;
+ IN2G = 1;
+ }
Led2 = 1;
- MOTG_duty = 0.5;
- MOTG_evol = 1;
- Pwm_MG = 0.5;
do {
if (FlagTickLed) {
@@ -755,9 +759,10 @@
} while(!Pc.readable());
MENU_choix = Pc.getc();
- En = 0;
- if (SensG == 0) Pwm_MG = 0;
- else Pwm_MG = 1;
+ IN1G = 0;
+ IN2G = 0;
+ Pwm_MG = 0;
+ Led2 = 0;
break;
@@ -765,12 +770,14 @@
Pc.printf ("\n\n\rMoteur Droit\n");
Pc.printf ("\rAppuyez sur Entree pour quitter\n");
- En = 1;
- SensD = 1;
+ if (SensD) {
+ IN1D = 1;
+ IN2D = 0;
+ } else {
+ IN1D = 0;
+ IN2D = 1;
+ }
Led2 = 1;
- MOTD_duty = 0.5;
- MOTD_evol = 1;
- Pwm_MD = 0.5;
do {
if (FlagTickLed) {
@@ -805,9 +812,10 @@
} while(!Pc.readable());
MENU_choix = Pc.getc();
- En = 0;
- if (SensD == 0) Pwm_MD = 0;
- else Pwm_MD = 1;
+ IN1D = 0;
+ IN2D = 0;
+ Pwm_MD = 0;
+ Led2 = 0;
break;