Diff: main.cpp

Revision:

12:1378fba9c916

Parent:

10:0312e23ba3a1

Child:

13:50de0cf096d1

diff -r 5f2289e0d0e8 -r 1378fba9c916 main.cpp
--- a/main.cpp	Fri Mar 11 09:50:01 2022 +0000
+++ b/main.cpp	Thu Jun 02 17:00:35 2022 +0000
@@ -16,35 +16,42 @@
 #include "float.h"
 #include "MX12.h"
 #include "stdio.h"
+#include "DRIBBLE.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);
+DigitalOut charge(D0);
+DigitalOut tir(D3);
+DigitalOut dd(D15);
+
+Thread reception_thread;
+Thread tir_thread;
+Thread dribble_thread;
 
 
-int main()
-{
+#define TRANSFER_SIZE   14
 
-#define TRANSFER_SIZE   12
-
-    char chaine[50];
+    char chaine[150];
     char tampon;
     
     char* reception8;
+
+    int16_t Vavance, Vlat,Wz,idcharge,idtir,dribble,idrobot;
+    int i;
     int16_t reception16[TRANSFER_SIZE/2];
-    reception8 = (char*) reception16;
-    int16_t Vavance, Vlat,Wz;
-    int i;
+
+void reception()
+{
     my_nrf24l01p.powerUp();
-    my_nrf24l01p.setRfFrequency(2420);
+    my_nrf24l01p.setRfFrequency(2424);
     my_nrf24l01p.setAirDataRate(1000);
     my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
     my_nrf24l01p.setReceiveMode();
     my_nrf24l01p.setCrcWidth(0);
     my_nrf24l01p.setRxAddress();
-    my_nrf24l01p.enable();
-    
+    my_nrf24l01p.enable();   
 
     pc_serie.write("Je suis le robot de Eve", strlen("Je suis le robot de Eve"));
 
@@ -53,7 +60,6 @@
 
     while (1) {
 
-
         if (my_nrf24l01p.readable()) {
             maled2 = !maled2;
             my_nrf24l01p.read( NRF24L01P_PIPE_P0, reception8, TRANSFER_SIZE );
@@ -61,19 +67,54 @@
                 tampon = reception8[i+1];
                 reception8[i+1] = reception8 [i];
                 reception8[i]= tampon;
-                }
-                
+                }               
+            idrobot = reception16[6];
+            if (idrobot==1){
+            
             Vavance = reception16[0];
             Vlat = reception16[1];
             Wz = reception16[2];
+            idcharge = reception16[3];
+            idtir = reception16[4];
+            dribble = reception16[5];
             
-            sprintf(chaine," Vav = %d, Vlat = %d, Wz = %d\n\r",(int)Vavance, (int)Vlat, (int)Wz);
+            //alors là c'est juste un test mais il y a quasi aucune chance que ça marche 
+            sprintf(chaine," Vav = %d, Vlat = %d, Wz = %d, dribble= %d, idtir= %d, idcharge= %d, idrobot= %d \n\r",(int)Vavance, (int)Vlat, (int)Wz, (int)dribble, (int)idtir, (int)idcharge, (int)idrobot);
             pc_serie.write(chaine, strlen(chaine));
-        servo_bus.cmd_moteur(Vavance/1000.0,  Vlat/1000.0, Wz);
-
+        
+        servo_bus.cmd_moteur(Vavance/1000.0,  Vlat/1000.0, Wz/1000.0);
+        //a bouger
+        //charge=(idcharge!=0);
+        charge=(idcharge==1);
+        ThisThread::sleep_for(10ms);
+        charge=0;
+        //dd.SetSpeed(dribble);
+        //tir=1;       
+        }
         }
 
     }
 
 }
+void Dribble(){
+    while(1){
+    dd=(dribble!=0);
+    }}
 
+void Tir(){
+    while(1){
+    if (idtir!=0){
+    tir = 1 ;
+    ThisThread::sleep_for(idtir);
+    tir = 0 ;
+        }
+    tir=0;}
+}
+
+int main(){
+
+reception8 = (char*) reception16;
+reception_thread.start(reception);
+dribble_thread.start(Dribble);
+tir_thread.start(Tir);
+}
\ No newline at end of file