On_est_là
Version2
Revision 1:a70715783fa2, committed 2019-11-13
- Comitter:
- emilienb
- Date:
- Wed Nov 13 16:26:39 2019 +0000
- Parent:
- 0:286c78fcd9dd
- Commit message:
- v2
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 286c78fcd9dd -r a70715783fa2 main.cpp
--- a/main.cpp Fri Oct 25 09:49:43 2019 +0000
+++ b/main.cpp Wed Nov 13 16:26:39 2019 +0000
@@ -4,7 +4,7 @@
m3pi pololu;
-Serial usb(USBTX,USBRX);
+Serial usb(p28,p27);
DigitalOut l1(LED1);
DigitalOut l2(LED2);
@@ -12,19 +12,29 @@
DigitalOut l4(LED4);
float speed = 0.5;
+int seuil = 500;
-int main() {
+
+int main()
+{
-int capteurs[5]={1,1,1,1,1};
-char buff[8];
-char c,cprev;
+ int capteurs[5]= {1,1,1,1,1};
+ int cap_seuil[5]= {0,0,0,0,0};
+ char buff[8];
+ char c;
+
+ pololu.sensor_auto_calibrate();
+
while(1) {
- //affichage valeur capteur
+ //affichage valeur capteur
//Boucle switch de reception de données via serial
- if(usb.readable()){
- cprev=c;
+ if(usb.readable())
+ {
c = usb.getc();
- switch(c){
+ switch(c){
+ case '0':
+ pololu.sensor_auto_calibrate();
+ break;
case 'z':
pololu.forward(speed);
l1 = 1;
@@ -32,45 +42,45 @@
l3 = 0;
l4 = 0;
break;
- case 's':
+ case 's':
pololu.backward(speed);
l1 = 0;
l2 = 1;
l3 = 0;
l4 = 0;
break;
- case 'q':
+ case 'q':
pololu.left(0.3);
l1 = 1;
l2 = 0;
l3 = 0;
l4 = 0;
break;
- case 'd':
+ case 'd':
pololu.right(0.3);
l1 = 1;
l2 = 0;
l3 = 0;
l4 = 0;
break;
- case 'a':
- speed += 0.1;
+ 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;
+ 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 ' ':
+ case ' ':
pololu.stop();
l1 = 1;
l2 = 1;
@@ -78,16 +88,34 @@
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]);}
+ for(int i=0; i<5; i++)
+ {
+ if(capteurs[i] >= seuil)
+ {
+ cap_seuil[i] = 1;
+ }
+ else
+ {
+ cap_seuil[i] = 0;
+ }
+ }
+
+ if(usb.writable())
+ {
+ usb.printf("Valeur capteur : \r\n");
+ usb.printf("Valeurs brutes: %d, %d, %d, %d, %d \r\n", (int)capteurs[0],(int)capteurs[1],(int)capteurs[2],(int)capteurs[3],(int)capteurs[4]);
+ usb.printf("Valeurs seuillees: %d, %d, %d, %d, %d \r\n \r\n ",cap_seuil[0],cap_seuil[1],cap_seuil[2],cap_seuil[3],cap_seuil[4]);
+ }
+ break;
+
case 'b':
sprintf(buff, "Bat:%3.f",pololu.battery());
pololu.cls();
pololu.locate(0,0);
pololu.print(buff,8);
- case 'y' :
+ break;
+ case 'y' :
speed = 0.3;
pololu.forward(speed);
wait(3);
@@ -96,9 +124,10 @@
pololu.left(speed);
wait(2);
pololu.right(speed);
- wait(1);
-
- default : break;
+ wait(1);
+ break;
+
+ default : break;
}
}
}