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Dependencies:   mbed

main.cpp@25:033263cf832c, 2019-06-06 (annotated)

Committer:
Wael_H
Date:
Thu Jun 06 12:39:55 2019 +0000
Revision:
25:033263cf832c
Parent:
24:314b1f6607c5
Child:
26:fa8a8fa175cb
Arret d'urgence derniere version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 2:8971078b1ccf 1 #include "mbed.h"
Wael_H 5:34048faec367 2 #include "CAN_asser.h"
Wael_H 10:efa507ba2b35 3 #include "Robot.h"
Wael_H 10:efa507ba2b35 4
Wael_H 24:314b1f6607c5 5 void automate_testDeplacement(Robot&);
Wael_H 24:314b1f6607c5 6 bool automate_arretUrgence(Robot&);
Wael_H 8:94ecfe411d02 7
Wael_H 2:8971078b1ccf 8 int main(void)
Wael_H 2:8971078b1ccf 9 {
Wael_H 10:efa507ba2b35 10 Robot robot;
Wael_H 24:314b1f6607c5 11
Wael_H 24:314b1f6607c5 12 robot.setSpeed(80,400);
theolp 17:aae5361ddddf 13
Wael_H 24:314b1f6607c5 14 Timer timer_dbug;
Wael_H 24:314b1f6607c5 15 timer_dbug.start();
theolp 20:a1b5d032b422 16
Wael_H 15:3d4543a6c100 17 while(1)
Wael_H 25:033263cf832c 18 if(!Robot::Jack)
theolp 17:aae5361ddddf 19 {
Wael_H 24:314b1f6607c5 20 automate_testDeplacement(robot);
theolp 17:aae5361ddddf 21
Wael_H 24:314b1f6607c5 22 if(timer_dbug.read() > 0.5f)
Wael_H 24:314b1f6607c5 23 {
Wael_H 24:314b1f6607c5 24 timer_dbug.stop();
Wael_H 24:314b1f6607c5 25 timer_dbug.reset();
Wael_H 24:314b1f6607c5 26 timer_dbug.start();
Wael_H 24:314b1f6607c5 27 }
theolp 17:aae5361ddddf 28 }
Wael_H 15:3d4543a6c100 29 }
Wael_H 15:3d4543a6c100 30
Wael_H 24:314b1f6607c5 31 void automate_testDeplacement(Robot& robot)
Wael_H 24:314b1f6607c5 32 {
Wael_H 24:314b1f6607c5 33 typedef enum{ AVANCE, ARRET_URGENCE } type_etat;
Wael_H 24:314b1f6607c5 34 static type_etat etat = AVANCE;
Wael_H 23:bb1535360a98 35
Wael_H 7:753e901d441b 36
Wael_H 7:753e901d441b 37 switch(etat)
Wael_H 9:2113adf37c66 38 {
Wael_H 24:314b1f6607c5 39 case AVANCE:
Wael_H 24:314b1f6607c5 40 robot.avance(2500);
Wael_H 24:314b1f6607c5 41 if( automate_arretUrgence(robot) )
Wael_H 24:314b1f6607c5 42 etat = ARRET_URGENCE;
Wael_H 13:9c62e263f245 43 break;
Wael_H 13:9c62e263f245 44
Wael_H 24:314b1f6607c5 45 case ARRET_URGENCE:
Wael_H 24:314b1f6607c5 46 robot.stop();
Wael_H 13:9c62e263f245 47 break;
Wael_H 13:9c62e263f245 48 }
Wael_H 13:9c62e263f245 49 }
Wael_H 23:bb1535360a98 50
Wael_H 24:314b1f6607c5 51 bool automate_arretUrgence(Robot& robot)
Wael_H 24:314b1f6607c5 52 {
Wael_H 24:314b1f6607c5 53 typedef enum{RAS, PERCEPTION, ARRET_URGENCE, ATTENTE_REPLACEMENT} type_etat;
Wael_H 24:314b1f6607c5 54 static type_etat etat = RAS;
Wael_H 24:314b1f6607c5 55
Wael_H 24:314b1f6607c5 56 // Timer pour la durée sur la ligne blanche
Wael_H 24:314b1f6607c5 57 static Timer timerCNY;
Wael_H 24:314b1f6607c5 58
Wael_H 24:314b1f6607c5 59 switch(etat)
Wael_H 23:bb1535360a98 60 {
Wael_H 24:314b1f6607c5 61 case RAS :
Wael_H 24:314b1f6607c5 62 if(robot.surBlanc(Robot::CNY_GAUCHE) && robot.surBlanc(Robot::CNY_DROIT)){
Wael_H 24:314b1f6607c5 63 etat = PERCEPTION;
Wael_H 24:314b1f6607c5 64 timerCNY.start();
Wael_H 24:314b1f6607c5 65 }
Wael_H 23:bb1535360a98 66 break;
Wael_H 23:bb1535360a98 67
Wael_H 24:314b1f6607c5 68 case PERCEPTION :
Wael_H 24:314b1f6607c5 69 if(robot.surBlanc(Robot::CNY_GAUCHE) && robot.surBlanc(Robot::CNY_DROIT) && timerCNY.read() >= 0.15f )
Wael_H 24:314b1f6607c5 70 etat = ARRET_URGENCE;
Wael_H 24:314b1f6607c5 71 else if( timerCNY.read() >= 0.15f ){
Wael_H 24:314b1f6607c5 72 etat = RAS;
Wael_H 24:314b1f6607c5 73 timerCNY.stop();
Wael_H 24:314b1f6607c5 74 timerCNY.reset();
Wael_H 24:314b1f6607c5 75 }
Wael_H 23:bb1535360a98 76 break;
Wael_H 23:bb1535360a98 77
Wael_H 24:314b1f6607c5 78 case ARRET_URGENCE :
Wael_H 24:314b1f6607c5 79 timerCNY.stop();
Wael_H 24:314b1f6607c5 80 timerCNY.reset();
Wael_H 24:314b1f6607c5 81
Wael_H 24:314b1f6607c5 82 etat = ATTENTE_REPLACEMENT;
Wael_H 23:bb1535360a98 83
Wael_H 24:314b1f6607c5 84 return true;
Wael_H 24:314b1f6607c5 85
Wael_H 24:314b1f6607c5 86 case ATTENTE_REPLACEMENT :
Wael_H 24:314b1f6607c5 87 if(!robot.surBlanc(Robot::CNY_GAUCHE) && !robot.surBlanc(Robot::CNY_DROIT))
Wael_H 24:314b1f6607c5 88 etat = RAS;
Wael_H 23:bb1535360a98 89 break;
Wael_H 23:bb1535360a98 90 }
Wael_H 24:314b1f6607c5 91
Wael_H 24:314b1f6607c5 92 return false;
Wael_H 23:bb1535360a98 93 }
Wael_H 24:314b1f6607c5 94