Freescale_Cachan / Mbed 2 deprecated Programme_course_vir_am_2

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Dependencies:   MMA8451Q mbed

Fork of Programme_course_2017_virage_ameliore by Freescale_Cachan

shield.cpp@1:000a03402c6e, 2017-02-01 (annotated)

Committer:
leandre
Date:
Wed Feb 01 13:41:24 2017 +0000
Revision:
1:000a03402c6e
Parent:
0:3ec7fc598e48 
prog course avec menu am?lior?

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
Freescale_cup 0:3ec7fc598e48 10 ajust_vitesse = (ligne_droite*5)/2;
Freescale_cup 0:3ec7fc598e48 11 if(VIT == 0)
Freescale_cup 0:3ec7fc598e48 12 {
Freescale_cup 0:3ec7fc598e48 13 PWM_motor(0,0);
Freescale_cup 0:3ec7fc598e48 14 }
Freescale_cup 0:3ec7fc598e48 15 else if(ralentire == 1)
Freescale_cup 0:3ec7fc598e48 16 {
Freescale_cup 0:3ec7fc598e48 17 if(vitesse_virage > 0)
Freescale_cup 0:3ec7fc598e48 18 {
Freescale_cup 0:3ec7fc598e48 19 PWM_motor((VIT+ajust_vitesse) - vitesse_virage,(VIT)+ 4*vitesse_virage);
Freescale_cup 0:3ec7fc598e48 20 }
Freescale_cup 0:3ec7fc598e48 21 else
Freescale_cup 0:3ec7fc598e48 22 {
Freescale_cup 0:3ec7fc598e48 23 PWM_motor((VIT)- 4*vitesse_virage, (VIT+ajust_vitesse) + vitesse_virage);
Freescale_cup 0:3ec7fc598e48 24 }
Freescale_cup 0:3ec7fc598e48 25 }
Freescale_cup 0:3ec7fc598e48 26 else
Freescale_cup 0:3ec7fc598e48 27 {
Freescale_cup 0:3ec7fc598e48 28 if(vitesse_virage > 0)
Freescale_cup 0:3ec7fc598e48 29 {
Freescale_cup 0:3ec7fc598e48 30 PWM_motor((VIT) - vitesse_virage, (VIT) + vitesse_virage);
Freescale_cup 0:3ec7fc598e48 31 }
Freescale_cup 0:3ec7fc598e48 32 else
Freescale_cup 0:3ec7fc598e48 33 {
Freescale_cup 0:3ec7fc598e48 34 PWM_motor((VIT)- vitesse_virage, (VIT) + vitesse_virage);
Freescale_cup 0:3ec7fc598e48 35 }
Freescale_cup 0:3ec7fc598e48 36 }
Freescale_cup 0:3ec7fc598e48 37
Freescale_cup 0:3ec7fc598e48 38 }
Freescale_cup 0:3ec7fc598e48 39
Freescale_cup 0:3ec7fc598e48 40 void test_servo(int time)
Freescale_cup 0:3ec7fc598e48 41 {
Freescale_cup 0:3ec7fc598e48 42 Timer debut_fct;
Freescale_cup 0:3ec7fc598e48 43 debut_fct.start();
Freescale_cup 0:3ec7fc598e48 44 while(debut_fct.read() < time)
Freescale_cup 0:3ec7fc598e48 45 {
Freescale_cup 0:3ec7fc598e48 46 for(int i = -30; i < 30; i++)
Freescale_cup 0:3ec7fc598e48 47 {
Freescale_cup 0:3ec7fc598e48 48 angle_servo_moteur(i);
Freescale_cup 0:3ec7fc598e48 49 wait(0.01);
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 }
Freescale_cup 0:3ec7fc598e48 57 angle_servo_moteur(0);
Freescale_cup 0:3ec7fc598e48 58 }
Freescale_cup 0:3ec7fc598e48 59
Freescale_cup 0:3ec7fc598e48 60 void Get_pot_value()
Freescale_cup 0:3ec7fc598e48 61 {
Freescale_cup 0:3ec7fc598e48 62 VIT = 0, KP = 0;
Freescale_cup 0:3ec7fc598e48 63 for(int i = 0; i < 10; i++)
Freescale_cup 0:3ec7fc598e48 64 {
Freescale_cup 0:3ec7fc598e48 65 VIT += ((pot1.read()+1)*(25.0));
Freescale_cup 0:3ec7fc598e48 66 KP += ((pot2.read()+1)*100);
Freescale_cup 0:3ec7fc598e48 67 }
Freescale_cup 0:3ec7fc598e48 68 VIT /= 10;
leandre 1:000a03402c6e 69 pc.printf("VIT=%d\nKP=%d\n",VIT,KP); //ici
Freescale_cup 0:3ec7fc598e48 70 }