Projet robot / Deplacement

deplacement v6

Fork of Deplacement by Projet robot

Deplacement.cpp@7:cc426369e073, 2017-02-23 (annotated)

Committer:
fab16
Date:
Thu Feb 23 09:18:05 2017 +0000
Revision:
7:cc426369e073
Parent:
6:ad9dd32c18c7
Child:
8:751dfd02c59e
v4

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