PSL_2021
/
prog_robot_1_Eve_v4
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Dependencies: mbed-os nRF24L01P
Revision 14:1b41c5adf46e, committed 2022-10-13
- Comitter:
- evedelegue
- Date:
- Thu Oct 13 10:39:25 2022 +0000
- Parent:
- 13:50de0cf096d1
- Commit message:
- je ne sais plus si je l'avais bien commit;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Thu Jun 02 17:12:10 2022 +0000
+++ b/main.cpp Thu Oct 13 10:39:25 2022 +0000
@@ -29,7 +29,6 @@
Thread tir_thread;
Thread dribble_thread;
-
#define TRANSFER_SIZE 14
char chaine[150];
@@ -43,6 +42,7 @@
void reception()
{
+
my_nrf24l01p.powerUp();
my_nrf24l01p.setRfFrequency(2424);
my_nrf24l01p.setAirDataRate(1000);
@@ -68,7 +68,7 @@
reception8[i]= tampon;
}
idrobot = reception16[6];
- if (idrobot==1){
+ if (idrobot==0){
Vavance = reception16[0];
Vlat = reception16[1];
@@ -76,7 +76,7 @@
idcharge = reception16[3];
idtir = reception16[4];
dribble = reception16[5];
-
+ dd=(dribble!=0);
//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));
@@ -96,24 +96,23 @@
}
void Dribble(){
- while(1){
- dd=(idtir!=0);
- }}
-
+}
+
void Tir(){
while(1){
- if (dribble!=0){
+ if (idtir!=0){
tir = 1 ;
- ThisThread::sleep_for(dribble);
+ ThisThread::sleep_for(idtir);
tir = 0 ;
}
tir=0;}
}
int main(){
-
+dd=0;
reception8 = (char*) reception16;
reception_thread.start(reception);
dribble_thread.start(Dribble);
+
tir_thread.start(Tir);
}
\ No newline at end of file