Projet robot / ROBOT

v7

Dependents:   robot_final

Robot.cpp@3:3f75a7741b8f, 2017-02-27 (annotated)

Committer:
fab16
Date:
Mon Feb 27 10:30:15 2017 +0000
Revision:
3:3f75a7741b8f
Parent:
2:c17925c0ce25
Child:
4:c8ae1b606d51
Robot v2

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