Projet robot / ROBOT

v7

Dependents:   robot_final

Robot.cpp@4:c8ae1b606d51, 2017-03-02 (annotated)

Committer:
fab16
Date:
Thu Mar 02 12:30:14 2017 +0000
Revision:
4:c8ae1b606d51
Parent:
3:3f75a7741b8f
Child:
5:152295068384
robot v3;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
fab16 0:3cb651f7347b 1 #include "Robot.h"
fab16 3:3f75a7741b8f 2 #include "m3pi.h"
fab16 3:3f75a7741b8f 3
fab16 4:c8ae1b606d51 4 m3pi m3piR;
fab16 4:c8ae1b606d51 5 SRF05 srf(p21,p22);
fab16 0:3cb651f7347b 6
fab16 1:b3c45f39e86e 7 Robot::Robot(){
fab16 2:c17925c0ce25 8 obstacle = false;
fab16 2:c17925c0ce25 9 Affichage affichage;
fab16 2:c17925c0ce25 10 LED led;
fab16 2:c17925c0ce25 11 Deplacement deplacement;
fab16 3:3f75a7741b8f 12 Pattern pattern;
fab16 4:c8ae1b606d51 13
fab16 1:b3c45f39e86e 14 }
fab16 1:b3c45f39e86e 15
fab16 1:b3c45f39e86e 16 Robot::~Robot(){
fab16 1:b3c45f39e86e 17 // TODO fermer connexion bluetooth
fab16 1:b3c45f39e86e 18 }
fab16 1:b3c45f39e86e 19
fab16 2:c17925c0ce25 20 Affichage Robot::getAffichage(){
fab16 2:c17925c0ce25 21 return affichage;
fab16 2:c17925c0ce25 22 }
fab16 2:c17925c0ce25 23
fab16 2:c17925c0ce25 24 LED Robot::getLed(){
fab16 2:c17925c0ce25 25 return led;
fab16 2:c17925c0ce25 26 }
fab16 2:c17925c0ce25 27
fab16 2:c17925c0ce25 28 Deplacement Robot::getDeplacement(){
fab16 2:c17925c0ce25 29 return deplacement;
fab16 2:c17925c0ce25 30 }
fab16 3:3f75a7741b8f 31
fab16 3:3f75a7741b8f 32 Pattern Robot::getPattern(){
fab16 3:3f75a7741b8f 33 return pattern;
fab16 3:3f75a7741b8f 34 }
fab16 3:3f75a7741b8f 35
fab16 3:3f75a7741b8f 36 void Robot::action(int idAction){
fab16 3:3f75a7741b8f 37
fab16 3:3f75a7741b8f 38 switch(idAction){
fab16 3:3f75a7741b8f 39
fab16 3:3f75a7741b8f 40 // deplacement simple
fab16 3:3f75a7741b8f 41 case 0 :
fab16 3:3f75a7741b8f 42 {
fab16 3:3f75a7741b8f 43 this->deplacement.avancer();
fab16 3:3f75a7741b8f 44 break;
fab16 3:3f75a7741b8f 45 }
fab16 3:3f75a7741b8f 46
fab16 3:3f75a7741b8f 47 case 1 :
fab16 3:3f75a7741b8f 48 {
fab16 3:3f75a7741b8f 49 this->deplacement.droite();
fab16 3:3f75a7741b8f 50 break;
fab16 3:3f75a7741b8f 51 }
fab16 3:3f75a7741b8f 52
fab16 3:3f75a7741b8f 53 case 2 :
fab16 3:3f75a7741b8f 54 {
fab16 3:3f75a7741b8f 55 this->deplacement.reculer();
fab16 3:3f75a7741b8f 56 break;
fab16 3:3f75a7741b8f 57 }
fab16 3:3f75a7741b8f 58
fab16 3:3f75a7741b8f 59 case 3 :
fab16 3:3f75a7741b8f 60 {
fab16 3:3f75a7741b8f 61 this->deplacement.gauche();
fab16 3:3f75a7741b8f 62 break;
fab16 3:3f75a7741b8f 63 }
fab16 3:3f75a7741b8f 64
fab16 3:3f75a7741b8f 65 case 4 :
fab16 3:3f75a7741b8f 66 {
fab16 3:3f75a7741b8f 67 this->deplacement.tourner_gauche();
fab16 3:3f75a7741b8f 68 break;
fab16 3:3f75a7741b8f 69 }
fab16 3:3f75a7741b8f 70
fab16 3:3f75a7741b8f 71 case 5 :
fab16 3:3f75a7741b8f 72 {
fab16 3:3f75a7741b8f 73 this->deplacement.tourner_droite();
fab16 3:3f75a7741b8f 74 break;
fab16 3:3f75a7741b8f 75 }
fab16 3:3f75a7741b8f 76
fab16 3:3f75a7741b8f 77 // pattern
fab16 3:3f75a7741b8f 78
fab16 3:3f75a7741b8f 79 case 6 :
fab16 3:3f75a7741b8f 80 {
fab16 3:3f75a7741b8f 81 this->pattern.carre();
fab16 3:3f75a7741b8f 82 break;
fab16 3:3f75a7741b8f 83 }
fab16 3:3f75a7741b8f 84
fab16 3:3f75a7741b8f 85 case 7 :
fab16 3:3f75a7741b8f 86 {
fab16 3:3f75a7741b8f 87 this->pattern.triangle();
fab16 3:3f75a7741b8f 88 break;
fab16 3:3f75a7741b8f 89 }
fab16 3:3f75a7741b8f 90
fab16 3:3f75a7741b8f 91 // led
fab16 3:3f75a7741b8f 92 case 8 :
fab16 3:3f75a7741b8f 93 {
fab16 3:3f75a7741b8f 94 this->led.K1000(1);
fab16 3:3f75a7741b8f 95 break;
fab16 3:3f75a7741b8f 96 }
fab16 3:3f75a7741b8f 97
fab16 3:3f75a7741b8f 98 case 9 :
fab16 3:3f75a7741b8f 99 {
fab16 3:3f75a7741b8f 100 this->led.K2000(1);
fab16 3:3f75a7741b8f 101 break;
fab16 3:3f75a7741b8f 102 }
fab16 3:3f75a7741b8f 103
fab16 3:3f75a7741b8f 104 case 10 :
fab16 3:3f75a7741b8f 105 {
fab16 3:3f75a7741b8f 106 this->led.K3000(1);
fab16 3:3f75a7741b8f 107 break;
fab16 3:3f75a7741b8f 108 }
fab16 3:3f75a7741b8f 109
fab16 3:3f75a7741b8f 110 case 11 :
fab16 3:3f75a7741b8f 111 {
fab16 3:3f75a7741b8f 112 this->led.K4000(1);
fab16 3:3f75a7741b8f 113 break;
fab16 3:3f75a7741b8f 114 }
fab16 3:3f75a7741b8f 115
fab16 3:3f75a7741b8f 116 case 12 :
fab16 3:3f75a7741b8f 117 {
fab16 3:3f75a7741b8f 118 this->led.LED_desynchrone(1);
fab16 3:3f75a7741b8f 119 break;
fab16 3:3f75a7741b8f 120 }
fab16 3:3f75a7741b8f 121
fab16 3:3f75a7741b8f 122 case 13 :
fab16 3:3f75a7741b8f 123 {
fab16 3:3f75a7741b8f 124 this->led.LED_Blinking(DigitalOut (LED1),1);
fab16 3:3f75a7741b8f 125 break;
fab16 3:3f75a7741b8f 126 }
fab16 3:3f75a7741b8f 127
fab16 3:3f75a7741b8f 128 case 14 :
fab16 3:3f75a7741b8f 129 {
fab16 3:3f75a7741b8f 130 this->led.LED_Blinking(DigitalOut (LED2),1);
fab16 3:3f75a7741b8f 131 break;
fab16 3:3f75a7741b8f 132 }
fab16 3:3f75a7741b8f 133
fab16 3:3f75a7741b8f 134 case 15 :
fab16 3:3f75a7741b8f 135 {
fab16 3:3f75a7741b8f 136 this->led.LED_Blinking(DigitalOut (LED3),1);
fab16 3:3f75a7741b8f 137 break;
fab16 3:3f75a7741b8f 138 }
fab16 3:3f75a7741b8f 139
fab16 3:3f75a7741b8f 140 case 16 :
fab16 3:3f75a7741b8f 141 {
fab16 3:3f75a7741b8f 142 this->led.LED_Blinking(DigitalOut (LED4),1);
fab16 3:3f75a7741b8f 143 break;
fab16 3:3f75a7741b8f 144 }
fab16 3:3f75a7741b8f 145
fab16 3:3f75a7741b8f 146
fab16 3:3f75a7741b8f 147 // affichage
fab16 3:3f75a7741b8f 148
fab16 3:3f75a7741b8f 149 case 17 :
fab16 3:3f75a7741b8f 150 {
fab16 3:3f75a7741b8f 151 this->affichage.bonjour();
fab16 3:3f75a7741b8f 152 break;
fab16 3:3f75a7741b8f 153 }
fab16 3:3f75a7741b8f 154 }
fab16 3:3f75a7741b8f 155
fab16 3:3f75a7741b8f 156 }
fab16 3:3f75a7741b8f 157
fab16 4:c8ae1b606d51 158 void Robot::utiliserUltrason(){
fab16 4:c8ae1b606d51 159 affichage.effacerTout();
fab16 4:c8ae1b606d51 160 float result = srf.read();
fab16 4:c8ae1b606d51 161 //m3piR.printf("%.1f",result);
fab16 4:c8ae1b606d51 162 affichage.affichageUltrason(result);
fab16 3:3f75a7741b8f 163 }
fab16 4:c8ae1b606d51 164
fab16 3:3f75a7741b8f 165
fab16 2:c17925c0ce25 166