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

motor.cpp@0:3ec7fc598e48, 2017-01-26 (annotated)

Committer:
Freescale_cup
Date:
Thu Jan 26 07:37:45 2017 +0000
Revision:
0:3ec7fc598e48
Programme de base

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Freescale_cup 0:3ec7fc598e48 1 #include "motor.h"
Freescale_cup 0:3ec7fc598e48 2
Freescale_cup 0:3ec7fc598e48 3
Freescale_cup 0:3ec7fc598e48 4 PwmOut moteurA_avancer (PTC2);
Freescale_cup 0:3ec7fc598e48 5 PwmOut moteurA_reculer (PTC1);
Freescale_cup 0:3ec7fc598e48 6
Freescale_cup 0:3ec7fc598e48 7 PwmOut moteurB_avancer (PTC4);
Freescale_cup 0:3ec7fc598e48 8 PwmOut moteurB_reculer (PTC3);
Freescale_cup 0:3ec7fc598e48 9
Freescale_cup 0:3ec7fc598e48 10
Freescale_cup 0:3ec7fc598e48 11 PwmOut servo (PTB0);
Freescale_cup 0:3ec7fc598e48 12
Freescale_cup 0:3ec7fc598e48 13 void PWM_motor (int vitesse_gauche ,int vitesse_droite)
Freescale_cup 0:3ec7fc598e48 14 {
Freescale_cup 0:3ec7fc598e48 15
Freescale_cup 0:3ec7fc598e48 16 if(vitesse_gauche >= 0)//On avance
Freescale_cup 0:3ec7fc598e48 17 {
Freescale_cup 0:3ec7fc598e48 18 moteurA_reculer.write(0);
Freescale_cup 0:3ec7fc598e48 19 moteurA_avancer.write((vitesse_gauche*CORRECTION)/100.0);
Freescale_cup 0:3ec7fc598e48 20 }
Freescale_cup 0:3ec7fc598e48 21 else//On recule
Freescale_cup 0:3ec7fc598e48 22 {
Freescale_cup 0:3ec7fc598e48 23 moteurA_avancer.write(0);
Freescale_cup 0:3ec7fc598e48 24 moteurA_reculer.write(vitesse_gauche/100.0);
Freescale_cup 0:3ec7fc598e48 25 }
Freescale_cup 0:3ec7fc598e48 26
Freescale_cup 0:3ec7fc598e48 27
Freescale_cup 0:3ec7fc598e48 28 if(vitesse_droite >= 0)//On avance
Freescale_cup 0:3ec7fc598e48 29 {
Freescale_cup 0:3ec7fc598e48 30 moteurB_reculer.write(0);
Freescale_cup 0:3ec7fc598e48 31 moteurB_avancer.write(vitesse_droite/100.0);
Freescale_cup 0:3ec7fc598e48 32 }
Freescale_cup 0:3ec7fc598e48 33 else//On recule
Freescale_cup 0:3ec7fc598e48 34 {
Freescale_cup 0:3ec7fc598e48 35 moteurB_avancer.write(0);
Freescale_cup 0:3ec7fc598e48 36 moteurB_reculer.write(vitesse_droite/100.0);
Freescale_cup 0:3ec7fc598e48 37 }
Freescale_cup 0:3ec7fc598e48 38
Freescale_cup 0:3ec7fc598e48 39 }
Freescale_cup 0:3ec7fc598e48 40 void motor_init()
Freescale_cup 0:3ec7fc598e48 41 {
Freescale_cup 0:3ec7fc598e48 42 moteurA_avancer.period(1.0/FREQ_PWM);
Freescale_cup 0:3ec7fc598e48 43 moteurB_avancer.write(0);
Freescale_cup 0:3ec7fc598e48 44 moteurA_avancer.write(0);
Freescale_cup 0:3ec7fc598e48 45 moteurB_reculer.write(0);
Freescale_cup 0:3ec7fc598e48 46 moteurA_reculer.write(0);
Freescale_cup 0:3ec7fc598e48 47 activate_motor = 1;
Freescale_cup 0:3ec7fc598e48 48
Freescale_cup 0:3ec7fc598e48 49 }
Freescale_cup 0:3ec7fc598e48 50 void angle_servo_moteur (double angle)
Freescale_cup 0:3ec7fc598e48 51 {
Freescale_cup 0:3ec7fc598e48 52 if(angle > 30) angle = 30;
Freescale_cup 0:3ec7fc598e48 53 if(angle < -30) angle = -30;
Freescale_cup 0:3ec7fc598e48 54 angle = (angle * PWM_ANGLE_DROIT_MAX) / ANGLE_DROIT_MAX;
Freescale_cup 0:3ec7fc598e48 55 angle += 0.0725;
Freescale_cup 0:3ec7fc598e48 56 servo.write(angle);
Freescale_cup 0:3ec7fc598e48 57 }