Freescale_Cachan / Mbed 2 deprecated Programme_course_30Tr

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Dependencies:   MMA8451Q mbed

Fork of Programme_course_vir_am_2 by Freescale_Cachan

shield.cpp@4:8b0215ec788f, 2017-03-22 (annotated)

Committer:
leandre
Date:
Wed Mar 22 14:41:20 2017 +0000
Revision:
4:8b0215ec788f
Parent:
1:000a03402c6e 
30 tours

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Freescale_cup 0:3ec7fc598e48 1 #include "Mlib.h"
Freescale_cup 0:3ec7fc598e48 2
Freescale_cup 0:3ec7fc598e48 3 /***************SHIELD*****************/
Freescale_cup 0:3ec7fc598e48 4
Freescale_cup 0:3ec7fc598e48 5
Freescale_cup 0:3ec7fc598e48 6 void moteurs_arriere()
Freescale_cup 0:3ec7fc598e48 7 {
Freescale_cup 0:3ec7fc598e48 8 vitesse_virage = new_bari/2;
Freescale_cup 0:3ec7fc598e48 9
leandre 4:8b0215ec788f 10 ajust_vitesse = ajust_vit_bosse +((ligne_droite*5)/2);-ajust_vit_vir;
leandre 4:8b0215ec788f 11
leandre 4:8b0215ec788f 12 pc.printf("%hi\n", ajust_vit_bosse);
leandre 4:8b0215ec788f 13
leandre 4:8b0215ec788f 14 if(bosse==1) {PWM_motor(90,90);} // acceleration à diminuer pour la competition
leandre 4:8b0215ec788f 15 else if(bosse==3) {PWM_motor(30,30);}
leandre 4:8b0215ec788f 16 else if(VIT == 0)
Freescale_cup 0:3ec7fc598e48 17 {
Freescale_cup 0:3ec7fc598e48 18 PWM_motor(0,0);
Freescale_cup 0:3ec7fc598e48 19 }
Freescale_cup 0:3ec7fc598e48 20 else if(ralentire == 1)
Freescale_cup 0:3ec7fc598e48 21 {
Freescale_cup 0:3ec7fc598e48 22 if(vitesse_virage > 0)
Freescale_cup 0:3ec7fc598e48 23 {
Freescale_cup 0:3ec7fc598e48 24 PWM_motor((VIT+ajust_vitesse) - vitesse_virage,(VIT)+ 4*vitesse_virage);
Freescale_cup 0:3ec7fc598e48 25 }
Freescale_cup 0:3ec7fc598e48 26 else
Freescale_cup 0:3ec7fc598e48 27 {
Freescale_cup 0:3ec7fc598e48 28 PWM_motor((VIT)- 4*vitesse_virage, (VIT+ajust_vitesse) + vitesse_virage);
Freescale_cup 0:3ec7fc598e48 29 }
Freescale_cup 0:3ec7fc598e48 30 }
Freescale_cup 0:3ec7fc598e48 31 else
Freescale_cup 0:3ec7fc598e48 32 {
Freescale_cup 0:3ec7fc598e48 33 if(vitesse_virage > 0)
Freescale_cup 0:3ec7fc598e48 34 {
Freescale_cup 0:3ec7fc598e48 35 PWM_motor((VIT) - vitesse_virage, (VIT) + vitesse_virage);
Freescale_cup 0:3ec7fc598e48 36 }
Freescale_cup 0:3ec7fc598e48 37 else
Freescale_cup 0:3ec7fc598e48 38 {
Freescale_cup 0:3ec7fc598e48 39 PWM_motor((VIT)- vitesse_virage, (VIT) + vitesse_virage);
Freescale_cup 0:3ec7fc598e48 40 }
Freescale_cup 0:3ec7fc598e48 41 }
Freescale_cup 0:3ec7fc598e48 42
Freescale_cup 0:3ec7fc598e48 43 }
Freescale_cup 0:3ec7fc598e48 44
Freescale_cup 0:3ec7fc598e48 45 void test_servo(int time)
Freescale_cup 0:3ec7fc598e48 46 {
Freescale_cup 0:3ec7fc598e48 47 Timer debut_fct;
Freescale_cup 0:3ec7fc598e48 48 debut_fct.start();
Freescale_cup 0:3ec7fc598e48 49 while(debut_fct.read() < time)
Freescale_cup 0:3ec7fc598e48 50 {
Freescale_cup 0:3ec7fc598e48 51 for(int i = -30; i < 30; i++)
Freescale_cup 0:3ec7fc598e48 52 {
Freescale_cup 0:3ec7fc598e48 53 angle_servo_moteur(i);
Freescale_cup 0:3ec7fc598e48 54 wait(0.01);
Freescale_cup 0:3ec7fc598e48 55 }
Freescale_cup 0:3ec7fc598e48 56 for(int i = 30; i > -30; i--)
Freescale_cup 0:3ec7fc598e48 57 {
Freescale_cup 0:3ec7fc598e48 58 angle_servo_moteur(i);
Freescale_cup 0:3ec7fc598e48 59 wait(0.01);
Freescale_cup 0:3ec7fc598e48 60 }
Freescale_cup 0:3ec7fc598e48 61 }
Freescale_cup 0:3ec7fc598e48 62 angle_servo_moteur(0);
Freescale_cup 0:3ec7fc598e48 63 }
Freescale_cup 0:3ec7fc598e48 64
Freescale_cup 0:3ec7fc598e48 65 void Get_pot_value()
Freescale_cup 0:3ec7fc598e48 66 {
Freescale_cup 0:3ec7fc598e48 67 VIT = 0, KP = 0;
Freescale_cup 0:3ec7fc598e48 68 for(int i = 0; i < 10; i++)
Freescale_cup 0:3ec7fc598e48 69 {
Freescale_cup 0:3ec7fc598e48 70 VIT += ((pot1.read()+1)*(25.0));
Freescale_cup 0:3ec7fc598e48 71 KP += ((pot2.read()+1)*100);
Freescale_cup 0:3ec7fc598e48 72 }
Freescale_cup 0:3ec7fc598e48 73 VIT /= 10;
leandre 1:000a03402c6e 74 pc.printf("VIT=%d\nKP=%d\n",VIT,KP); //ici
Freescale_cup 0:3ec7fc598e48 75 }