PSL_2021 / Mbed OS prog_robot_1_Eve_v4

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Dependencies:   mbed-os nRF24L01P

Diff: main.cpp

Revision:
9:67d737d8a349
Parent:
8:04ab02bb2262
Child:
10:0312e23ba3a1
--- a/main.cpp	Fri Jan 14 07:59:02 2022 +0000
+++ b/main.cpp	Fri Feb 25 10:13:06 2022 +0000
@@ -7,43 +7,61 @@
 Point de vue : PC
 micro controleur : L475
 
-envoi d'une chaine de caractère de taille TRANSFER_SIZE 
+envoi d'une chaine de caractère de taille TRANSFER_SIZE
 */
 
 #include "mbed.h"
 #include "string.h"
 #include "nRF24L01P.h"
-#include "string.h"
-
+#include "float.h"
+#include "MX12.h"
+#include "stdio.h"
 
 BufferedSerial pc_serie(USBTX,USBRX,115200);
 
 nRF24L01P my_nrf24l01p(D11, D12, D13, D9, D2, D1);    // mosi, miso, sck, csn, ce, irq
+DigitalOut maled2(LED2);
+
 
 int main()
 {
 
-#define TRANSFER_SIZE   32
+#define TRANSFER_SIZE   12
 
-    char c;
+    char chaine[50];
+    float reception[3];
+    float Vavance, Vlat,Wz;
+    int i;
     my_nrf24l01p.powerUp();
-    my_nrf24l01p.setRfFrequency(2418); 
-    my_nrf24l01p.setAirDataRate(1000); 
+    my_nrf24l01p.setRfFrequency(2420);
+    my_nrf24l01p.setAirDataRate(1000);
     my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
     my_nrf24l01p.setReceiveMode();
     my_nrf24l01p.setCrcWidth(0);
     my_nrf24l01p.setRxAddress();
     my_nrf24l01p.enable();
-    
+
+    pc_serie.write("Je suis le robot de Eve", strlen("Je suis le robot de Eve"));
+
+    maled2 = 1;
+
     while (1) {
 
-           if (my_nrf24l01p.readable()) {
-           my_nrf24l01p.read( NRF24L01P_PIPE_P0, &c , 32 );   
-            pc_serie.write(&c,32);
 
-}
+        if (my_nrf24l01p.readable()) {
+            maled2 = !maled2;
+            my_nrf24l01p.read( NRF24L01P_PIPE_P0, (char *)reception, TRANSFER_SIZE );
+            Vavance = reception[0];
+            Vlat = reception[1];
+            Wz = reception[2];
+            
+            sprintf(chaine," Vav = %f, Vlat = %f, Wz = %f\n\r",(float)Vavance, (float)Vlat, (float)Wz);
+            pc_serie.write(chaine, strlen(chaine));
+           // cmd_moteur(Vavance,  Vlat, Wz);
 
         }
 
     }
 
+}
+