Projet robot / Deplacement

deplacement v6

Fork of Deplacement by Projet robot

Deplacement.cpp@6:ad9dd32c18c7, 2017-02-09 (annotated)

Committer:
fab16
Date:
Thu Feb 09 16:14:08 2017 +0000
Revision:
6:ad9dd32c18c7
Parent:
5:327f0df4ba8e
Child:
7:cc426369e073
v3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aure 0:d6b2da5ef6cb 1 #include "Deplacement.h"
aure 1:662d3c47637f 2 #include "mbed.h"
fab16 5:327f0df4ba8e 3
fab16 5:327f0df4ba8e 4 m3pi m3piD;
aure 0:d6b2da5ef6cb 5
aure 1:662d3c47637f 6 Deplacement::Deplacement() //constructeur
aure 1:662d3c47637f 7 {
aure 4:bd8b50f91f81 8
fab16 5:327f0df4ba8e 9 this->mseconds=30;// temps pour la rotation une fois valeur trouvé ne pas changer
fab16 5:327f0df4ba8e 10 posx=0;
fab16 5:327f0df4ba8e 11 posy=0;
fab16 5:327f0df4ba8e 12 this->vitesse=0; //pointeur this
fab16 6:ad9dd32c18c7 13 init(0.2);
fab16 6:ad9dd32c18c7 14 }
fab16 6:ad9dd32c18c7 15
fab16 6:ad9dd32c18c7 16 void Deplacement::init(float val){
fab16 6:ad9dd32c18c7 17 m3piD.right_motor(val);
fab16 6:ad9dd32c18c7 18 m3piD.left_motor(val);
aure 1:662d3c47637f 19 }
aure 1:662d3c47637f 20
aure 1:662d3c47637f 21 Deplacement::~Deplacement()
aure 0:d6b2da5ef6cb 22 {
fab16 5:327f0df4ba8e 23
aure 1:662d3c47637f 24 }
aure 1:662d3c47637f 25 /////////////////////////////////////////////////////
aure 1:662d3c47637f 26
aure 1:662d3c47637f 27 void Deplacement::setVitesse(float v)
aure 1:662d3c47637f 28 {
fab16 5:327f0df4ba8e 29 this->vitesse=v;
aure 1:662d3c47637f 30 }
aure 1:662d3c47637f 31
aure 1:662d3c47637f 32 /////////////////////////////////////////////////////
aure 1:662d3c47637f 33
aure 1:662d3c47637f 34 void Deplacement::tourner_droite()
aure 1:662d3c47637f 35 {
aure 2:7e0d789e1be8 36 int copie=0;
aure 4:bd8b50f91f81 37
aure 4:bd8b50f91f81 38 t.reset();
aure 4:bd8b50f91f81 39 t.start();
aure 4:bd8b50f91f81 40
fab16 5:327f0df4ba8e 41 while((t.read_ms())!=this->mseconds)
fab16 5:327f0df4ba8e 42 m3piD.right(this->vitesse);
aure 2:7e0d789e1be8 43
aure 4:bd8b50f91f81 44 t.stop();
aure 4:bd8b50f91f81 45
aure 2:7e0d789e1be8 46 posx=copie;
aure 2:7e0d789e1be8 47 posx=posy;
aure 2:7e0d789e1be8 48 posy=-copie;
aure 2:7e0d789e1be8 49
aure 1:662d3c47637f 50 }
aure 1:662d3c47637f 51
aure 1:662d3c47637f 52 void Deplacement::tourner_gauche()
aure 1:662d3c47637f 53 {
fab16 6:ad9dd32c18c7 54 int copie=0;
aure 4:bd8b50f91f81 55
aure 4:bd8b50f91f81 56 t.reset();
aure 4:bd8b50f91f81 57 t.start();
aure 4:bd8b50f91f81 58
fab16 5:327f0df4ba8e 59 while((t.read_ms())!=this->mseconds)
fab16 5:327f0df4ba8e 60 m3piD.left(this->vitesse);
aure 2:7e0d789e1be8 61
aure 4:bd8b50f91f81 62 t.stop();
aure 4:bd8b50f91f81 63
aure 4:bd8b50f91f81 64
aure 2:7e0d789e1be8 65 posx=copie;
aure 2:7e0d789e1be8 66 posx=-posy;
aure 2:7e0d789e1be8 67 posy=copie;
fab16 6:ad9dd32c18c7 68
aure 1:662d3c47637f 69 }
aure 1:662d3c47637f 70
aure 1:662d3c47637f 71 void Deplacement::avancer()
aure 1:662d3c47637f 72 {
fab16 5:327f0df4ba8e 73 m3piD.forward(this->vitesse);
aure 2:7e0d789e1be8 74 posy++;
aure 1:662d3c47637f 75 }
aure 1:662d3c47637f 76
aure 1:662d3c47637f 77 void Deplacement::reculer()
aure 1:662d3c47637f 78 {
fab16 5:327f0df4ba8e 79 m3piD.backward(this->vitesse);
aure 2:7e0d789e1be8 80 posy--;
aure 1:662d3c47637f 81 }
aure 1:662d3c47637f 82
aure 3:965871a8c5ff 83 void Deplacement::stop()
aure 3:965871a8c5ff 84 {
fab16 5:327f0df4ba8e 85 m3piD.stop();
aure 3:965871a8c5ff 86 }
aure 3:965871a8c5ff 87
aure 2:7e0d789e1be8 88 void Deplacement::RAZ()
aure 2:7e0d789e1be8 89 {
aure 2:7e0d789e1be8 90 posx=0;
fab16 5:327f0df4ba8e 91 posy=0;
fab16 5:327f0df4ba8e 92 this->vitesse=0;
aure 2:7e0d789e1be8 93
fab16 5:327f0df4ba8e 94 }
aure 1:662d3c47637f 95
aure 3:965871a8c5ff 96 float Deplacement::getVitesse()
fab16 5:327f0df4ba8e 97 {
fab16 5:327f0df4ba8e 98 return(this->vitesse);
fab16 5:327f0df4ba8e 99 }
fab16 5:327f0df4ba8e 100
aure 3:965871a8c5ff 101 int Deplacement::getPosX()
fab16 5:327f0df4ba8e 102 {
fab16 5:327f0df4ba8e 103 return(this->posx);
fab16 5:327f0df4ba8e 104 }
fab16 5:327f0df4ba8e 105
aure 3:965871a8c5ff 106 int Deplacement::getPosY()
fab16 5:327f0df4ba8e 107 {
fab16 5:327f0df4ba8e 108 return(this->posy);
fab16 5:327f0df4ba8e 109 }
aure 1:662d3c47637f 110
fab16 6:ad9dd32c18c7 111 void Deplacement::tourner_droite_t()
fab16 6:ad9dd32c18c7 112 {
fab16 6:ad9dd32c18c7 113
fab16 6:ad9dd32c18c7 114 m3piD.left_motor(this->vitesse);
fab16 6:ad9dd32c18c7 115 m3piD.right_motor(-(this->vitesse));
fab16 6:ad9dd32c18c7 116 }
fab16 6:ad9dd32c18c7 117
aure 1:662d3c47637f 118
aure 1:662d3c47637f 119
aure 1:662d3c47637f 120
aure 1:662d3c47637f 121