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Dependencies:   mbed

main.cpp@12:7ec2c5b674a2, 2019-05-28 (annotated)

Committer:
theolp
Date:
Tue May 28 06:50:44 2019 +0000
Revision:
12:7ec2c5b674a2
Parent:
11:e8c4a1c6553d 
Test Stop asservissement + dbug position

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 10:efa507ba2b35 5 /*//Bonus fin de partie
Wael_H 10:efa507ba2b35 6 PwmOut bonus(PA_10);
Wael_H 8:94ecfe411d02 7
Wael_H 10:efa507ba2b35 8 //Disquette
Wael_H 10:efa507ba2b35 9 PwmOut Servo_Ballon(PB_7);
Wael_H 10:efa507ba2b35 10 PwmOut Mot_Ballon(PB_6);*/
Wael_H 10:efa507ba2b35 11
Wael_H 10:efa507ba2b35 12
Wael_H 10:efa507ba2b35 13 void automate_test(Robot& R);
Wael_H 10:efa507ba2b35 14
Wael_H 8:94ecfe411d02 15
Wael_H 2:8971078b1ccf 16 int main(void)
Wael_H 2:8971078b1ccf 17 {
Wael_H 10:efa507ba2b35 18 Robot robot;
Wael_H 7:753e901d441b 19
theolp 12:7ec2c5b674a2 20 int pos[3];
theolp 12:7ec2c5b674a2 21
theolp 12:7ec2c5b674a2 22 //Pour cadencer la fréquence d'envoi de messages vers le module bluetooth
theolp 12:7ec2c5b674a2 23 Timer timer_dbug;
theolp 12:7ec2c5b674a2 24 timer_dbug.start();
theolp 12:7ec2c5b674a2 25
theolp 12:7ec2c5b674a2 26 robot.gobe(30);
theolp 11:e8c4a1c6553d 27
Wael_H 9:2113adf37c66 28 while(1)
theolp 11:e8c4a1c6553d 29 {
theolp 12:7ec2c5b674a2 30 //Maj de la position du robot
theolp 12:7ec2c5b674a2 31 robot.getPos(pos);
theolp 12:7ec2c5b674a2 32 //Led s'allume sur la carte si le robot a une balle
theolp 11:e8c4a1c6553d 33 robot.LedBps = robot.aBalle();
theolp 12:7ec2c5b674a2 34
theolp 12:7ec2c5b674a2 35 if(timer_dbug.read() > 1.f){
theolp 12:7ec2c5b674a2 36 dbug.printf("posX : %d\n\r", pos[0]);
theolp 12:7ec2c5b674a2 37 dbug.printf("posY : %d\n\r", pos[1]);
theolp 12:7ec2c5b674a2 38 dbug.printf("Angle : %d\n\r", pos[2]);
theolp 12:7ec2c5b674a2 39 sauter_lignes(24);
theolp 12:7ec2c5b674a2 40
theolp 12:7ec2c5b674a2 41 timer_dbug.stop(); timer_dbug.reset(); timer_debug.start();
theolp 12:7ec2c5b674a2 42 }
theolp 12:7ec2c5b674a2 43
theolp 12:7ec2c5b674a2 44 //Automate
Wael_H 9:2113adf37c66 45 automate_test(robot);
theolp 11:e8c4a1c6553d 46 }
Wael_H 7:753e901d441b 47 }
Wael_H 7:753e901d441b 48
Wael_H 10:efa507ba2b35 49
theolp 11:e8c4a1c6553d 50 void automate_test(Robot& robot)
Wael_H 7:753e901d441b 51 {
theolp 12:7ec2c5b674a2 52 typedef enum {DEBUT, ATTENTE_BALLE, TOURNE, EJECTE} type_etat;
theolp 12:7ec2c5b674a2 53 static type_etat etat = DEBUT;
Wael_H 7:753e901d441b 54
Wael_H 7:753e901d441b 55 switch(etat)
Wael_H 9:2113adf37c66 56 {
theolp 11:e8c4a1c6553d 57 case DEBUT:
theolp 12:7ec2c5b674a2 58 robot.avance(300);
theolp 12:7ec2c5b674a2 59 etat = ATTENTE_BALLE;
theolp 12:7ec2c5b674a2 60 break;
theolp 12:7ec2c5b674a2 61
theolp 12:7ec2c5b674a2 62 case ATTENTE_BALLE:
theolp 11:e8c4a1c6553d 63 if(robot.aBalle()){
theolp 12:7ec2c5b674a2 64 SendRawId(ASSERVISSEMENT_STOP);
theolp 12:7ec2c5b674a2 65 etat = TOURNE;
theolp 11:e8c4a1c6553d 66 }
Wael_H 8:94ecfe411d02 67 break;
Wael_H 8:94ecfe411d02 68
theolp 12:7ec2c5b674a2 69 case TOURNE:
theolp 12:7ec2c5b674a2 70 if(robot.tourne(1800))
theolp 11:e8c4a1c6553d 71 etat = EJECTE;
theolp 11:e8c4a1c6553d 72 break;
theolp 11:e8c4a1c6553d 73
theolp 11:e8c4a1c6553d 74 case EJECTE:
theolp 12:7ec2c5b674a2 75 robot.ejecte(60);
theolp 11:e8c4a1c6553d 76 etat = DEBUT;
Wael_H 8:94ecfe411d02 77 break;
Wael_H 7:753e901d441b 78 }
Wael_H 2:8971078b1ccf 79 }