Diff: main.cpp

Revision:

4:4329f61a927e

Parent:

3:5c32522fbe3f

Child:

5:5d767f9355e2

--- a/main.cpp	Mon Jan 14 13:47:03 2019 +0000
+++ b/main.cpp	Mon Jan 21 17:18:27 2019 +0000
@@ -1,84 +1,42 @@
 #include "mbed.h"
-//#include "define.h"
+#include "init.h"
+#include "moteur.h"
 
-UARTSerial serie(D10,D2,115200);
-Serial pc(SERIAL_TX, SERIAL_RX);
+volatile uint8_t command_tab [256][2];
+
+
 
 DigitalOut led1(LED1);
 
-void command(uint8_t command[3], uint8_t value);
-//void packet_build(uint8_t buffer[],uint8_t command[3] ,uint8_t value);
-uint16_t crc16(uint8_t *packet, int nBytes);
-
-uint8_t avancer[] = {8,5,1};
-uint8_t reculer[] = {9,5,1};
-
-uint8_t tourner_droite[] = {10,5,1};
-uint8_t tourner_gauche[] = {11,5,1};
-
 int main(){   
-    int i;
     led1=0;   
         
     while(1){
+        command(drive_forward_M1 ,5);
+        wait_ms(100);
+        
+/*
         for(i=0; i<15; i++) {
-            command( avancer ,i);
+            command(tab_command[drive_forward_M1] ,i);
             wait_ms(100);
         }
         for(i=15; i>0; i--) {
-            command( avancer ,i);
+            command(tab_command[drive_forward_M1] ,i);
             wait_ms(100);
         }
         
         for(i=0; i<15; i++) {
-            command( reculer ,i);
+            command(tab_command[] ,i);
             wait_ms(100);
         }
         for(i=15; i>0; i--) {
-            command( reculer ,i);
+            command(tab_command[] ,i);
             wait_ms(100);
         }
+*/
     }
+
 }
 
 
-void command(uint8_t command[3], uint8_t value){
-    uint8_t envoi[command[1]], reponse[command[2]];
 
-    envoi[0] = 128;
-    envoi[1] = command[0];
-    envoi[2] = value;
-    envoi[3] = crc16(envoi,3)>>8;
-    envoi[4] = crc16(envoi,3);
-    
-    serie.write(envoi,command[1]);
-    pc.printf("%i-%i-%i-%i-%i\n",envoi[0],envoi[1],envoi[2],envoi[3],envoi[4]);
-    serie.read(reponse,command[2]);
-    pc.printf("%i\n",reponse[0]);
-}
-
-/*void packet_build(uint8_t buffer[],uint8_t command[3] ,uint8_t value){
-    buffer[0] = 128;
-    buffer[1] = command[0];
-    buffer[2] = value;
-    buffer[3] = crc16(buffer,3)>>8;
-    buffer[4] = crc16(buffer,3);
-}*/
-
-//Calculates CRC16 of nBytes of data in byte array message
-uint16_t crc16(uint8_t *packet, int nBytes){
-    uint8_t byte, bit;
-    uint16_t crc=0;
-    
-    for(byte=0 ; byte < nBytes ; byte++) {
-        crc = crc ^ (packet[byte] << 8);
-        for (bit = 0; bit < 8; bit++) {
-            if (crc & 0x8000) {
-                crc = (crc << 1) ^ 0x1021;
-            } else {
-                crc = crc << 1;
-            }
-        }
-    }
-    return crc;
-}