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:
- 1:d95546f84105
- Parent:
- 0:f00e68bef80c
- Child:
- 2:1d440e938c44
--- a/main.cpp Sat May 27 15:15:41 2017 +0000
+++ b/main.cpp Mon May 29 16:23:47 2017 +0000
@@ -78,9 +78,9 @@
* PA_7 -> CNY2 (Analog In)
* PA_8 -> Servomoteur (PWM Out)
* PA_9 -> US Trigger #3 (Digital Out)
- * PA_10 -> I (Encodeur Droit) (IRQ In)
+ * PA_10 -> US Echo #1 (Pwm In)
* PA_11 -> US Echo #2 (Pwm In)
- * PA_12 -> US Echo #1 (Pwm In)
+ * PA_12 -> SS (SPI Slave Select) (Digital Out)
* PA_13
* PA_14
* PA_15 -> Boussole (Pwm In)
@@ -123,7 +123,7 @@
* PD_2 -> Led2 (Digital Out)
*/
-Serial Pixy (PA_0, PA_1, 115200);
+Serial Pixy (PA_0, PA_1, 230400);
Serial Pc (PA_2, PA_3, 460800);
AnalogIn CNY1 (PC_4);
@@ -143,22 +143,22 @@
DigitalOut En (PC_9);
DigitalOut SensG (PC_8);
DigitalOut SensD (PC_6);
+DigitalOut SS (PA_12);
-InterruptIn Echo1 (PA_12);
+InterruptIn Echo1 (PA_10);
InterruptIn Echo2 (PA_11);
InterruptIn Echo3 (PB_12);
InterruptIn BP (PC_13);
InterruptIn IG (PC_7);
-InterruptIn ID (PA_10);
+
+PwmIn PWMG (PB_2);
+PwmIn PWMD (PB_1);
+PwmIn PWMB (PA_15);
PwmOut Pwm_MG (PB_10);
PwmOut Pwm_MD (PB_3);
PwmOut Servo (PA_8);
-PwmIn PWMG (PB_2);
-PwmIn PWMD (PB_1);
-PwmIn PWMB (PA_15);
-
I2C Bus_I2C (PB_9, PB_8);
SPI MotG (PC_12, PC_11, PC_10);
@@ -188,7 +188,7 @@
// Dialogue avec la Pixy
T_pixyData Pixy_FIFO[20];
-Byte Pixy_nbObjet = 0, Pixy_wObjet = 0, pixy_rObjet = 0;
+Byte Pixy_nbObjet = 0, Pixy_wObjet = 0, Pixy_rObjet = 0;
// Gestion des capteurs Ultrason
long Echo1Start, Echo2Start, Echo3Start;
@@ -218,7 +218,6 @@
void echo2Rise ()
{
Echo2Start = temps.read_us();
- Led2 = !Led2;
}
void echo3Rise ()
@@ -252,6 +251,7 @@
static int Pixy_synced = 0;
int i;
+ Led2 = ! Led2;
if (!Pixy_synced) { // On n'a pas trouvé le départ (0x55aa55aa ou 0x55aa56aa)
tmpBuffer.tab[bytecount] = Pixy.getc(); // On stocke l'octet reçu dans la première case dispo du tableau temporaire
if (bytecount < 3) { // Si on n'a pas encore reçu les 4 premier octets
@@ -317,8 +317,8 @@
Echo2.fall (&echo2Fall);
Echo3.fall (&echo3Fall);
+ BP.enable_irq();
IG.enable_irq();
- ID.enable_irq();
Echo1.enable_irq();
Echo2.enable_irq();
Echo3.enable_irq();
@@ -435,18 +435,18 @@
FlagTickLed = 0;
}
- if (((Tick%150)==0)&& FlagTick) {
+ if (((Tick%150)==0) && FlagTick) {
FlagTick = 0;
if (BOUSSOLE_check==0) {
CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10;
- Pc.printf ("\r PWM = %4.1lf\t", CAP_PWM);
+ Pc.printf ("\r PWM = %4.1lf", CAP_PWM);
}
- if (I2C_check==0) {
+ //if (I2C_check==0) {
Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true);
Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4);
CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0;
- Pc.printf ("\t I2C = %4.1lf\r", CAP_I2C);
- }
+ Pc.printf ("\r\t\t I2C = %4.1lf", CAP_I2C);
+ //}
}
} while(!Pc.readable());
MENU_choix = Pc.getc();
@@ -601,82 +601,91 @@
Pc.printf ("\n\n\rPixy\n");
Pc.printf ("\rAppuyez sur Entree pour quitter\n");
do {
- if ((Tick%2)==0) {
+ if (((Tick%50)==0) && FlagTick) {
+ FlagTick = 0;
switch (phase) {
case 0 :
PIXY_red += 5;
- if (PIXY_red == 255) phase = 1;
+ if (PIXY_red == 255) {
+ phase = 1;
+ //Pc.printf ("\rPhase 1");
+ }
break;
case 1 :
PIXY_green += 5;
- if (PIXY_green == 255) phase = 2;
+ if (PIXY_green == 255) {
+ phase = 2;
+ //Pc.printf ("\rPhase 2");
+ }
break;
case 2 :
PIXY_red -= 5;
- if (PIXY_red == 0) phase = 3;
+ if (PIXY_red == 0) {
+ phase = 3;
+ //Pc.printf ("\rPhase 3");
+ }
break;
case 3 :
PIXY_blue += 5;
- if (PIXY_blue == 255) phase = 4;
+ if (PIXY_blue == 255) {
+ phase = 4;
+ //Pc.printf ("\rPhase 4");
+ }
break;
case 4 :
PIXY_green -= 5;
- if (PIXY_green == 0) phase = 5;
+ if (PIXY_green == 0) {
+ phase = 5;
+ //Pc.printf ("\rPhase 5");
+ }
break;
case 5 :
PIXY_red += 5;
- if (PIXY_red == 255) phase = 6;
+ if (PIXY_red == 255) {
+ phase = 6;
+ //Pc.printf ("\rPhase 6");
+ }
break;
case 6 :
PIXY_green += 5;
- if (PIXY_green == 255) phase = 7;
+ if (PIXY_green == 255) {
+ phase = 7;
+ //Pc.printf ("\rPhase 7");
+ }
break;
case 7 :
PIXY_red -= 5;
- if (PIXY_red == 0) phase = 8;
- break;
- case 8 :
PIXY_green -= 5;
- if (PIXY_green == 0) phase = 9;
- break;
- case 9 :
- PIXY_red += 5;
- if (PIXY_red == 255) phase = 10;
- break;
- case 10 :
- PIXY_blue -= 5;
- if (PIXY_blue == 0) phase = 11;
- break;
- case 11 :
- PIXY_green += 5;
- if (PIXY_green == 255) phase = 12;
- break;
- case 12 :
- PIXY_green += 5;
- if (PIXY_green == 255) phase = 13;
- break;
- case 13 :
- PIXY_red -= 5;
- if (PIXY_red == 0) phase = 14;
- break;
- case 14 :
- PIXY_green -= 5;
- if (PIXY_green == 0) phase = 0;
+ PIXY_blue -=5;
+ if (PIXY_red == 0) {
+ phase = 0;
+ //Pc.printf ("\rPhase 0");
+ }
break;
}
Pixy.putc(0);
- Pixy.putc(0xFF);
+ Pixy.putc(0xFD);
Pixy.putc(PIXY_red);
Pixy.putc(PIXY_green);
Pixy.putc(PIXY_blue);
- if ((Tick%50)==0) {
- Pc.printf ("\r Nombre d'objets detecte = %d",Pixy_nbObjet);
- FlagPixy = 0;
- Pixy_nbObjet = 0;
- }
+ while (Pixy_nbObjet) {
+ Pc.printf ("\r%5hd = %5hd,%5hd : %5hdx%5hd", Pixy_FIFO[Pixy_rObjet].CCbloc.signature, Pixy_FIFO[Pixy_rObjet].CCbloc.x, Pixy_FIFO[Pixy_rObjet].CCbloc.y, Pixy_FIFO[Pixy_rObjet].CCbloc.width, Pixy_FIFO[Pixy_rObjet].CCbloc.height);
+
+ if (Pixy_nbObjet>1) Pc.printf("\n");
+
+ if (Pixy_rObjet<19) Pixy_rObjet++;
+ else Pixy_rObjet = 0;
+
+ Pixy_nbObjet--;
+ }
+ FlagPixy = 0;
}
- if ((Tick%100)==0) Led1 = !Led1;
+
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+ }
} while(!Pc.readable());
MENU_choix = Pc.getc();
break;