FRC_equipe1 / Mbed 2 deprecated FRC_2019

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Classes/Robot.cpp@23:bb1535360a98, 2019-06-06 (annotated)

Committer:
Wael_H
Date:
Thu Jun 06 11:43:01 2019 +0000
Revision:
23:bb1535360a98
Parent:
21:9ff2eab240fb
Child:
24:314b1f6607c5
verion de la classe Robot avec gestion du bras

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 10:efa507ba2b35 1 #include "mbed.h"
Wael_H 10:efa507ba2b35 2 #include "Robot.h"
Wael_H 10:efa507ba2b35 3 #include "CAN_asser.h"
Wael_H 10:efa507ba2b35 4
Wael_H 10:efa507ba2b35 5 #include "Deplacement.h"
Wael_H 10:efa507ba2b35 6 #include "Laser.h"
Wael_H 10:efa507ba2b35 7 #include "Rouleau.h"
Wael_H 10:efa507ba2b35 8 #include <string>
Wael_H 10:efa507ba2b35 9
Wael_H 10:efa507ba2b35 10 using namespace std;
Wael_H 10:efa507ba2b35 11
theolp 20:a1b5d032b422 12 //********** CNY70 **********//
theolp 20:a1b5d032b422 13 /*
theolp 20:a1b5d032b422 14
theolp 20:a1b5d032b422 15 CNY70 de gauche branché sur CNY 0 : le plus à droite (peut changer)
theolp 20:a1b5d032b422 16 CNY70 de droite branché sur CNY 1 : deuxième en partant de la droite (peut changer)
theolp 20:a1b5d032b422 17
theolp 20:a1b5d032b422 18 PINS:
theolp 20:a1b5d032b422 19 CNY 0 -> A2
theolp 20:a1b5d032b422 20 CNY 1 -> A3
theolp 20:a1b5d032b422 21 CNY 2 -> A4
theolp 20:a1b5d032b422 22 CNY 3 -> A5
theolp 20:a1b5d032b422 23
theolp 20:a1b5d032b422 24 */
theolp 20:a1b5d032b422 25 /**********************************/
theolp 20:a1b5d032b422 26
Wael_H 19:dad67302af25 27 DigitalIn Robot::Jack(PA_15);
Wael_H 10:efa507ba2b35 28
theolp 20:a1b5d032b422 29 Robot::Robot() : laserG(Laser(PB_1)), laserD(Laser(PC_5)), laserA(Laser(PC_4)),
theolp 20:a1b5d032b422 30 rouleau(Rouleau(D5, D4, D6)), /*Pins order : PWM, Ejecte, Gobe*/
theolp 20:a1b5d032b422 31 BPs(DigitalIn(PC_2, PullDown)),
Wael_H 23:bb1535360a98 32 CNY_G(AnalogIn(A2)), CNY_D(AnalogIn(A3)), //Infos plus haut pour les pins
Wael_H 23:bb1535360a98 33 Cerveau_Bras(PwmOut(PB_7)), Disquette(PwmOut(PB_6))
Wael_H 10:efa507ba2b35 34 {
Wael_H 10:efa507ba2b35 35 can_init();
Wael_H 19:dad67302af25 36 this->setPos(500,0,0);
Wael_H 23:bb1535360a98 37
Wael_H 23:bb1535360a98 38 this->Cerveau_Bras.period_ms(20);
Wael_H 23:bb1535360a98 39 this->Cerveau_Bras = 0.045f;
Wael_H 23:bb1535360a98 40
Wael_H 23:bb1535360a98 41 this->Disquette.period_ms(20);
Wael_H 10:efa507ba2b35 42 }
Wael_H 10:efa507ba2b35 43
Wael_H 10:efa507ba2b35 44 bool Robot::aBalle()
Wael_H 10:efa507ba2b35 45 {
Wael_H 10:efa507ba2b35 46 return BPs.read();
Wael_H 10:efa507ba2b35 47 }
Wael_H 10:efa507ba2b35 48
Wael_H 19:dad67302af25 49 /// Fonctions Odometrie ///
Wael_H 19:dad67302af25 50 void Robot::setPos(unsigned short x, unsigned short y, signed short theta) const
Wael_H 19:dad67302af25 51 {
Wael_H 19:dad67302af25 52 SetOdometrie(ODOMETRIE_POSITION, y, x, theta); // Oui les x et les y sont inversés...
Wael_H 19:dad67302af25 53 }
Wael_H 19:dad67302af25 54
Wael_H 10:efa507ba2b35 55 /// retourne l'adresse de la premiere case d'un tableau contenant dans l'ordre la position en x et en y et l'angle theta ///
theolp 20:a1b5d032b422 56 short Robot::pos(T_POS pos)
Wael_H 10:efa507ba2b35 57 {
theolp 20:a1b5d032b422 58 return this->deplacement.getPos(pos);
Wael_H 16:05665faaa489 59 }
Wael_H 16:05665faaa489 60
Wael_H 10:efa507ba2b35 61
Wael_H 10:efa507ba2b35 62 /// Toutes les fonctions de déplacement ///
Wael_H 15:3d4543a6c100 63 bool Robot::avance(signed short dist)
Wael_H 10:efa507ba2b35 64 {
Wael_H 10:efa507ba2b35 65 return deplacement.avance(dist);
Wael_H 10:efa507ba2b35 66 }
Wael_H 10:efa507ba2b35 67
Wael_H 15:3d4543a6c100 68 bool Robot::tourne(signed short angle)
Wael_H 10:efa507ba2b35 69 {
Wael_H 10:efa507ba2b35 70 return deplacement.tourne(angle);
Wael_H 10:efa507ba2b35 71 }
Wael_H 10:efa507ba2b35 72
Wael_H 15:3d4543a6c100 73 bool Robot::GoToXYT(unsigned short x, unsigned short y, unsigned short t, signed char sens) //sens = 0 par défaut
Wael_H 10:efa507ba2b35 74 {
Wael_H 10:efa507ba2b35 75 return deplacement.GoToXYT(x,y,t,sens);
Wael_H 10:efa507ba2b35 76 }
Wael_H 10:efa507ba2b35 77
Wael_H 15:3d4543a6c100 78 void Robot::setSpeed(unsigned short vitesse, unsigned short acceleration) const
Wael_H 10:efa507ba2b35 79 {
Wael_H 10:efa507ba2b35 80 SendSpeed(vitesse,acceleration);
Wael_H 10:efa507ba2b35 81 }
Wael_H 10:efa507ba2b35 82
Wael_H 13:9c62e263f245 83 void Robot::stop()
Wael_H 13:9c62e263f245 84 {
Wael_H 13:9c62e263f245 85 deplacement.stop();
Wael_H 13:9c62e263f245 86 }
Wael_H 13:9c62e263f245 87
Wael_H 10:efa507ba2b35 88
Wael_H 10:efa507ba2b35 89 /// Fonction distance lasers ///
Wael_H 13:9c62e263f245 90 float Robot::getDist(int laserENUM, string unite) //="cm" par défaut
Wael_H 10:efa507ba2b35 91 {
Wael_H 10:efa507ba2b35 92 switch(laserENUM) {
Wael_H 13:9c62e263f245 93 case Laser::Gauche:
Wael_H 10:efa507ba2b35 94 return this->laserG.getDist(unite);
Wael_H 10:efa507ba2b35 95
Wael_H 13:9c62e263f245 96 case Laser::Droit:
Wael_H 10:efa507ba2b35 97 return this->laserD.getDist(unite);
Wael_H 10:efa507ba2b35 98
Wael_H 13:9c62e263f245 99 case Laser::Arriere:
Wael_H 10:efa507ba2b35 100 return this->laserA.getDist(unite);
Wael_H 10:efa507ba2b35 101 }
Wael_H 10:efa507ba2b35 102
Wael_H 10:efa507ba2b35 103 return 0;
Wael_H 10:efa507ba2b35 104 }
Wael_H 10:efa507ba2b35 105
theolp 20:a1b5d032b422 106 /// Fonction CNY surBlanc ou pas ///
theolp 20:a1b5d032b422 107 bool Robot::surBlanc( T_CNY cny )
theolp 20:a1b5d032b422 108 {
theolp 21:9ff2eab240fb 109 static const float SEUIL_CNY_G = 0.7f,
theolp 21:9ff2eab240fb 110 SEUIL_CNY_D = 0.7f;
theolp 21:9ff2eab240fb 111
theolp 20:a1b5d032b422 112 if( cny == Robot::CNY_GAUCHE )
theolp 20:a1b5d032b422 113 return ( this->CNY_G >= SEUIL_CNY_G );
theolp 20:a1b5d032b422 114
theolp 20:a1b5d032b422 115 else if( cny == Robot::CNY_DROIT )
theolp 20:a1b5d032b422 116 return ( this->CNY_D >= SEUIL_CNY_D );
theolp 20:a1b5d032b422 117
theolp 20:a1b5d032b422 118 else return false;
theolp 20:a1b5d032b422 119 }
Wael_H 10:efa507ba2b35 120
Wael_H 10:efa507ba2b35 121 /// Fonctions Rouleau ///
Wael_H 10:efa507ba2b35 122 void Robot::ejecte(int vitesse) // vitesse max = 100
Wael_H 10:efa507ba2b35 123 {
Wael_H 10:efa507ba2b35 124 rouleau.ejecte(vitesse);
Wael_H 10:efa507ba2b35 125 }
Wael_H 10:efa507ba2b35 126
Wael_H 10:efa507ba2b35 127 void Robot::gobe(int vitesse) // vitesse max = 100
Wael_H 10:efa507ba2b35 128 {
Wael_H 10:efa507ba2b35 129 rouleau.gobe(vitesse);
Wael_H 10:efa507ba2b35 130 }
Wael_H 10:efa507ba2b35 131
Wael_H 10:efa507ba2b35 132 void Robot::stopRouleau()
Wael_H 10:efa507ba2b35 133 {
Wael_H 10:efa507ba2b35 134 rouleau.stop();
Wael_H 10:efa507ba2b35 135 }
Wael_H 23:bb1535360a98 136
Wael_H 23:bb1535360a98 137 /// Bras ///
Wael_H 23:bb1535360a98 138 bool Robot::leveBras()
Wael_H 23:bb1535360a98 139 {
Wael_H 23:bb1535360a98 140 static double posCerveau;
Wael_H 23:bb1535360a98 141 posCerveau = this->Cerveau_Bras;
Wael_H 23:bb1535360a98 142
Wael_H 23:bb1535360a98 143 if(posCerveau <= 0.091f)
Wael_H 23:bb1535360a98 144 {
Wael_H 23:bb1535360a98 145 posCerveau += 0.001f;
Wael_H 23:bb1535360a98 146 this->Cerveau_Bras = posCerveau;
Wael_H 23:bb1535360a98 147 return false;
Wael_H 23:bb1535360a98 148 }
Wael_H 23:bb1535360a98 149 else return true;
Wael_H 23:bb1535360a98 150 }
Wael_H 23:bb1535360a98 151
Wael_H 23:bb1535360a98 152 bool Robot::baisseBras()
Wael_H 23:bb1535360a98 153 {
Wael_H 23:bb1535360a98 154 static double posCerveau;
Wael_H 23:bb1535360a98 155 posCerveau = this->Cerveau_Bras;
Wael_H 23:bb1535360a98 156
Wael_H 23:bb1535360a98 157 if(posCerveau >= 0.045f)
Wael_H 23:bb1535360a98 158 {
Wael_H 23:bb1535360a98 159 posCerveau -= 0.001f;
Wael_H 23:bb1535360a98 160 this->Cerveau_Bras = posCerveau;
Wael_H 23:bb1535360a98 161 return false;
Wael_H 23:bb1535360a98 162 }
Wael_H 23:bb1535360a98 163 else return true;
Wael_H 23:bb1535360a98 164 }
Wael_H 23:bb1535360a98 165
Wael_H 23:bb1535360a98 166 void Robot::exploseBallon()
Wael_H 23:bb1535360a98 167 {
Wael_H 23:bb1535360a98 168 this->Disquette.write(0.5);
Wael_H 23:bb1535360a98 169 }
Wael_H 23:bb1535360a98 170
Wael_H 23:bb1535360a98 171 void Robot::arreteDisquette()
Wael_H 23:bb1535360a98 172 {
Wael_H 23:bb1535360a98 173 this->Disquette.write(0);
Wael_H 23:bb1535360a98 174 }