Diff: main.cpp

Revision:

0:286c78fcd9dd

Child:

1:ef658023014b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Oct 25 09:49:43 2019 +0000
@@ -0,0 +1,105 @@
+#include "mbed.h"
+#include "m3pi.h"
+//#include "MSCFileSystem.h"
+
+m3pi pololu;
+
+Serial usb(USBTX,USBRX);
+
+DigitalOut l1(LED1);
+DigitalOut l2(LED2);
+DigitalOut l3(LED3);
+DigitalOut l4(LED4);
+
+float speed = 0.5;
+
+int main() {    
+
+int capteurs[5]={1,1,1,1,1};
+char buff[8];
+char c,cprev;
+    while(1) {
+        //affichage valeur capteur 
+        //Boucle switch de reception de données via serial
+        if(usb.readable()){
+            cprev=c;
+            c = usb.getc();
+            switch(c){ 
+            case 'z':
+                pololu.forward(speed);
+                l1 = 1;
+                l2 = 0;
+                l3 = 0;
+                l4 = 0;
+                break;
+            case 's':    
+                pololu.backward(speed);
+                l1 = 0;
+                l2 = 1;
+                l3 = 0;
+                l4 = 0;
+                break;
+            case 'q':    
+                pololu.left(0.3);
+                l1 = 1;
+                l2 = 0;
+                l3 = 0;
+                l4 = 0;
+                break;
+            case 'd':    
+                pololu.right(0.3);
+                l1 = 1;
+                l2 = 0;
+                l3 = 0;
+                l4 = 0;
+                break;
+            case 'a': 
+                speed += 0.1;       
+                if(speed > 1) speed = 1;
+                pololu.cls();
+                pololu.locate(0,0);
+                sprintf(buff, "Spd:%3.f",speed );
+                pololu.print(buff,8);
+                
+                break;
+            case 'e': 
+                speed -= 0.1;   
+                if(speed < 0) speed = 0;
+                pololu.cls();
+                pololu.locate(0,0);
+                sprintf(buff, "Spd:%3.f",speed );
+                pololu.print(buff,8);
+                break;
+            case ' ':    
+                pololu.stop();
+                l1 = 1;
+                l2 = 1;
+                l3 = 1;
+                l4 = 1;
+                break;
+            case 'c':
+                pololu.calibrate();
+                pololu.readsensor(capteurs);
+                 if(usb.writable()) {
+                        usb.printf("%d, %d, %d, %d, %d | \0",capteurs[0],capteurs[1],capteurs[2],capteurs[3],capteurs[4]);}
+            case 'b':
+                sprintf(buff, "Bat:%3.f",pololu.battery());
+                pololu.cls();
+                pololu.locate(0,0);
+                pololu.print(buff,8);
+            case 'y' : 
+                speed = 0.3;
+                pololu.forward(speed);
+                wait(3);
+                pololu.stop();
+                wait(1);
+                pololu.left(speed);
+                wait(2);
+                pololu.right(speed);
+                wait(1);            
+                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                
+            default : break; 
+            }
+        }
+    }
+}
\ No newline at end of file