Ensea / Mbed 2 deprecated Interface_projet

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Dependencies:   BSP_DISCO_F429ZI LCD_DISCO_F429ZI TS_DISCO_F429ZI mbed

automatique.cpp@1:59fe933886bd, 2018-03-29 (annotated)

Committer:
Alex_mln
Date:
Thu Mar 29 07:14:46 2018 +0000
Revision:
1:59fe933886bd
Parent:
0:4910cdb3d377 
sghkjlm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Alex_mln 0:4910cdb3d377 1 #include "automatique.h"
Alex_mln 0:4910cdb3d377 2 #include "capteur.h"
Alex_mln 1:59fe933886bd 3 #include "fonctions.h"
Alex_mln 0:4910cdb3d377 4
Alex_mln 0:4910cdb3d377 5 LCD_DISCO_F429ZI lcd3;
Alex_mln 0:4910cdb3d377 6 TS_DISCO_F429ZI ts3;
Alex_mln 0:4910cdb3d377 7 TS_StateTypeDef tsState3;
Alex_mln 0:4910cdb3d377 8 uint16_t xa, ya;
Alex_mln 0:4910cdb3d377 9
Alex_mln 0:4910cdb3d377 10 DigitalOut led1(PG_7); //lente gauche
Alex_mln 1:59fe933886bd 11
Alex_mln 1:59fe933886bd 12
Alex_mln 1:59fe933886bd 13 /* DigitalOut led2(PB_4); //rapide
Alex_mln 0:4910cdb3d377 14
Alex_mln 0:4910cdb3d377 15 DigitalOut led3(PA_8); //lente droite
Alex_mln 0:4910cdb3d377 16 DigitalOut led4(PA_14); //rapide
Alex_mln 0:4910cdb3d377 17
Alex_mln 0:4910cdb3d377 18 DigitalOut led5(PC_12); //arrêt
Alex_mln 0:4910cdb3d377 19
Alex_mln 0:4910cdb3d377 20
Alex_mln 0:4910cdb3d377 21 int vitesse;
Alex_mln 0:4910cdb3d377 22
Alex_mln 0:4910cdb3d377 23 // Pour l'instant avec 1 capteur : ligne = avant ; blanc = arret
Alex_mln 0:4910cdb3d377 24
Alex_mln 0:4910cdb3d377 25 void detectiona(){
Alex_mln 0:4910cdb3d377 26 xa = tsState3.X;
Alex_mln 0:4910cdb3d377 27 ya = tsState3.Y;
Alex_mln 0:4910cdb3d377 28 uint8_t text[7];
Alex_mln 0:4910cdb3d377 29 sprintf((char*)text, "%d; %d", xa, ya);
Alex_mln 0:4910cdb3d377 30 lcd3.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE); }
Alex_mln 0:4910cdb3d377 31
Alex_mln 0:4910cdb3d377 32 void freqled(int indice){
Alex_mln 0:4910cdb3d377 33 if (indice==1){
Alex_mln 0:4910cdb3d377 34 led1=!led1;
Alex_mln 0:4910cdb3d377 35 }
Alex_mln 0:4910cdb3d377 36 else if (indice==2){
Alex_mln 0:4910cdb3d377 37 led2=!led2;
Alex_mln 0:4910cdb3d377 38 }
Alex_mln 0:4910cdb3d377 39 else if (indice==3){
Alex_mln 0:4910cdb3d377 40 led3=!led3;
Alex_mln 0:4910cdb3d377 41 }
Alex_mln 0:4910cdb3d377 42 else if (indice==4){
Alex_mln 0:4910cdb3d377 43 led4=!led4;
Alex_mln 0:4910cdb3d377 44 }
Alex_mln 0:4910cdb3d377 45 }
Alex_mln 0:4910cdb3d377 46
Alex_mln 0:4910cdb3d377 47
Alex_mln 0:4910cdb3d377 48
Alex_mln 0:4910cdb3d377 49 void action(bool c1, bool c2, bool c3){
Alex_mln 1:59fe933886bd 50 led5=1;
Alex_mln 0:4910cdb3d377 51 led1=0;
Alex_mln 0:4910cdb3d377 52 led2=0;
Alex_mln 0:4910cdb3d377 53 led3=0;
Alex_mln 1:59fe933886bd 54 led4=0;
Alex_mln 0:4910cdb3d377 55 if(c1==false && c2==true && c3==false){
Alex_mln 0:4910cdb3d377 56 led5=0;
Alex_mln 0:4910cdb3d377 57 //clignotement normal des deux LEDs lentes
Alex_mln 0:4910cdb3d377 58 led1=1;
Alex_mln 0:4910cdb3d377 59 led3=1;
Alex_mln 0:4910cdb3d377 60 // freqled(1);
Alex_mln 0:4910cdb3d377 61 // freqled(3);
Alex_mln 0:4910cdb3d377 62 wait(1);
Alex_mln 0:4910cdb3d377 63 led1=0;
Alex_mln 0:4910cdb3d377 64 led3=0;
Alex_mln 0:4910cdb3d377 65 // freqled(1);
Alex_mln 0:4910cdb3d377 66 // freqled(3);
Alex_mln 0:4910cdb3d377 67 wait(1);//(10/vitesse)-(vitesse/1000));
Alex_mln 0:4910cdb3d377 68 }// led1=0;
Alex_mln 0:4910cdb3d377 69 // led3=0;
Alex_mln 0:4910cdb3d377 70 else{
Alex_mln 0:4910cdb3d377 71 led1=1;
Alex_mln 0:4910cdb3d377 72 led2=1;
Alex_mln 0:4910cdb3d377 73 led3=1;
Alex_mln 0:4910cdb3d377 74 led4=1;
Alex_mln 0:4910cdb3d377 75 led5=1; }}
Alex_mln 0:4910cdb3d377 76
Alex_mln 0:4910cdb3d377 77
Alex_mln 0:4910cdb3d377 78
Alex_mln 0:4910cdb3d377 79
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Alex_mln 0:4910cdb3d377 84
Alex_mln 0:4910cdb3d377 85
Alex_mln 0:4910cdb3d377 86 int go_automatique(int vit){
Alex_mln 0:4910cdb3d377 87 vitesse=vit;
Alex_mln 0:4910cdb3d377 88 uint8_t status3 = ts3.Init(lcd3.GetXSize(), lcd3.GetYSize());
Alex_mln 0:4910cdb3d377 89 ts3.GetState(&tsState3);
Alex_mln 0:4910cdb3d377 90 detectiona();
Alex_mln 0:4910cdb3d377 91
Alex_mln 0:4910cdb3d377 92
Alex_mln 0:4910cdb3d377 93
Alex_mln 0:4910cdb3d377 94
Alex_mln 0:4910cdb3d377 95 while((xa>225 || xa<12) || (ya<78-20 || ya>288-20)){
Alex_mln 0:4910cdb3d377 96 bool capt1=false;//code(1);
Alex_mln 0:4910cdb3d377 97 bool capt2=code(2);
Alex_mln 0:4910cdb3d377 98 bool capt3=false;//code(3);
Alex_mln 0:4910cdb3d377 99
Alex_mln 0:4910cdb3d377 100 action(capt1,capt2,capt3);
Alex_mln 0:4910cdb3d377 101
Alex_mln 0:4910cdb3d377 102 int value=afficher();
Alex_mln 0:4910cdb3d377 103 showIntegerScreen((int)(value),1,0,RIGHT_MODE);
Alex_mln 0:4910cdb3d377 104 showIntegerScreen(0,0,0,RIGHT_MODE);
Alex_mln 0:4910cdb3d377 105 wait(0.2);
Alex_mln 0:4910cdb3d377 106
Alex_mln 0:4910cdb3d377 107
Alex_mln 0:4910cdb3d377 108
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Alex_mln 0:4910cdb3d377 112
Alex_mln 0:4910cdb3d377 113
Alex_mln 0:4910cdb3d377 114 ts3.GetState(&tsState3);
Alex_mln 0:4910cdb3d377 115 detectiona();
Alex_mln 0:4910cdb3d377 116
Alex_mln 0:4910cdb3d377 117 }
Alex_mln 1:59fe933886bd 118 return(1);}*/
Alex_mln 1:59fe933886bd 119
Alex_mln 1:59fe933886bd 120
Alex_mln 1:59fe933886bd 121 int go_automatique(int vit){
Alex_mln 1:59fe933886bd 122 for(int k=0;k<5;k++){
Alex_mln 1:59fe933886bd 123 led1=!led1;
Alex_mln 1:59fe933886bd 124 wait(0.1);}
Alex_mln 1:59fe933886bd 125 while(1){
Alex_mln 1:59fe933886bd 126 bool capt=code(2);
Alex_mln 1:59fe933886bd 127
Alex_mln 1:59fe933886bd 128 if(capt==true){
Alex_mln 1:59fe933886bd 129 led1=1;}
Alex_mln 1:59fe933886bd 130 else if(capt==false){
Alex_mln 1:59fe933886bd 131 led1=0;}
Alex_mln 1:59fe933886bd 132 else{
Alex_mln 1:59fe933886bd 133 erreur();}
Alex_mln 1:59fe933886bd 134 wait(0.1);}
Alex_mln 1:59fe933886bd 135
Alex_mln 1:59fe933886bd 136
Alex_mln 1:59fe933886bd 137
Alex_mln 1:59fe933886bd 138
Alex_mln 1:59fe933886bd 139
Alex_mln 1:59fe933886bd 140 return(1);
Alex_mln 1:59fe933886bd 141 }