Revision 1:d0a3df9541ca, committed 2022-06-15

Comitter:

martinr

Date:

Wed Jun 15 13:06:30 2022 +0000

Parent:

0:1294dd3b7664

Commit message:

fc;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dribble.lib	Wed Jun 15 13:06:30 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/PSL_2021/code/dribble/#0fc1a21949f7

--- a/main.cpp	Fri May 20 09:53:16 2022 +0200
+++ b/main.cpp	Wed Jun 15 13:06:30 2022 +0000
@@ -1,22 +1,122 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2019 ARM Limited
- * SPDX-License-Identifier: Apache-2.0
- */
+/*/*
+RobotCup ENS Paris Saclay 2021-2022
+Team FC Furious
+Code by Martin Raynaud
+
+Programme communication PC-Robot
+Point de vue : Robot
+
+*/
 
 #include "mbed.h"
+#include "string.h"
+#include "nRF24L01P.h"
+#include "string.h"
+#include "MX12.h"
+#include "DRIBBLE.h"
+
+int8_t commande_dribble = 0;
+int8_t commande_tir = 0;
+int8_t commande_charge;
+int8_t commande_option2;
+int8_t commande_id;
+
+Thread thread;
+Thread thread2;
+
+DigitalOut myled(LED2);
+DigitalOut myled2(LED3);
+
+DigitalOut tir(D3);
+DigitalOut charge(D0);
 
 
-// Blinking rate in milliseconds
-#define BLINKING_RATE     300ms
+
+BufferedSerial pc_serie(USBTX,USBRX,115200);
+MX12 bus(PC_4,PC_5,115200);
+nRF24L01P my_nrf24l01p(D11, D12, D13, D9, D2, D1);    // mosi, miso, sck, csn, ce, irq
+dribbleur d(D15);
 
 
 int main()
 {
-    // Initialise the digital pin LED1 as an output
-    DigitalOut led(LED1);
+    myled = 1 ;
+    myled2 = 1;
+
+/*
+envoi d'une chaine de caractère de taille TRANSFER_SIZE
+*/
+
+#define TRANSFER_SIZE 12
+
+    int16_t Vavance_mm_s;
+    int16_t Vlat_mm_s;
+    int16_t Vrot_mrad_s;
+    int8_t commande_arret;
+
+    char tab[TRANSFER_SIZE];
+    char text[50];
+    char text2[50];
+
+    my_nrf24l01p.powerUp();
+    my_nrf24l01p.setRfFrequency(2418);
+    my_nrf24l01p.setAirDataRate(1000);
+    my_nrf24l01p.setTransferSize( TRANSFER_SIZE );
+    my_nrf24l01p.setReceiveMode();
+    my_nrf24l01p.setCrcWidth(0);
+    my_nrf24l01p.setRxAddress();
+    my_nrf24l01p.enable();
+    while (1) {
+
+
+        if (my_nrf24l01p.readable()) {
+            myled = !myled;
+            my_nrf24l01p.read( NRF24L01P_PIPE_P0, tab, TRANSFER_SIZE );
+
 
-    while (true) {
-        led = !led;
-        ThisThread::sleep_for(BLINKING_RATE);
+            Vavance_mm_s = -((((int16_t)tab[0]) << 8 ) + (int16_t)tab[1]);
+            Vlat_mm_s = -(((int16_t)tab[2] << 8) + (int16_t)tab[3]);
+            Vrot_mrad_s = -(((int16_t)tab[4] << 8) + (int16_t)tab[5]);
+            commande_arret = ((uint8_t)tab[6]);
+            commande_charge = ((uint8_t)tab[7]);
+            commande_dribble = ((uint8_t)tab[8]);
+            commande_tir = ((uint8_t)tab[9]);
+            commande_id = ((uint8_t)tab[10]);
+            commande_option2 = ((uint8_t)tab[11]);
+
+
+            if (commande_id == (1)) {
+
+                if (commande_charge == 1) {
+                    charge = 1;
+                    thread_sleep_for(100);
+                    charge = 0;
+                }
+                if (commande_tir == 1) {
+                    thread_sleep_for(1000);
+                    tir= 1;
+                    thread_sleep_for(10);
+                    tir = 0;
+                }
+                if (commande_dribble == 1) {
+                    d.SetSpeed(50);
+                } else {
+                    d.SetSpeed(0);
+                }
+                if (commande_arret == (1)) {
+                    bus.eteindre_moteurs();
+                    myled2 =! myled2;
+
+                } else if ((abs(Vavance_mm_s) < 1) && (abs(Vlat_mm_s) < 1) && (abs(Vrot_mrad_s) < 1)) {
+                    bus.eteindre_moteurs();
+
+                } else {
+                    bus.cmd_moteur(Vavance_mm_s/1000.0,Vlat_mm_s/1000.0,Vrot_mrad_s/1000.0);
+                }
+            }
+        }
     }
+
+
 }
+

--- a/mbed_app.json	Fri May 20 09:53:16 2022 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,11 +0,0 @@
-{
-    "requires": ["bare-metal"],
-    "target_overrides": {
-      "*": {
-        "target.c_lib": "small",
-        "target.printf_lib": "minimal-printf",
-        "platform.minimal-printf-enable-floating-point": true,
-        "platform.stdio-minimal-console-only": true
-      }
-    }
-}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nRF24L01P.lib	Wed Jun 15 13:06:30 2022 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/Owen/code/nRF24L01P/#8ae48233b4e4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/servomotor_MX12_Lorenzo.lib	Wed Jun 15 13:06:30 2022 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/PSL_2021/code/servomotor_MX12_Lorenzo/#67e5482f83dd