Projet robot / Mbed 2 deprecated robot_final

robot final c est la fin

Dependencies:   AFFICHAGE Bluetooth_HC05_LE_TRAME Deplacement LED_Debug PATTERN LED SRF05 m3pi mbed ROBOT

main.cpp@1:1d7dc9751783, 2017-03-23 (annotated)

Committer:
aure
Date:
Thu Mar 23 12:49:54 2017 +0000
Revision:
1:1d7dc9751783
Parent:
0:238a3e4fa7bc 
gndjghiuch

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aure 0:238a3e4fa7bc 1 #include "mbed.h"
aure 0:238a3e4fa7bc 2 #include "LED_Debug.h"
aure 0:238a3e4fa7bc 3 #include "Robot.h"
aure 0:238a3e4fa7bc 4 #include "Bluetooth_HC05_LE_TRAME.h"
aure 0:238a3e4fa7bc 5
aure 0:238a3e4fa7bc 6
aure 1:1d7dc9751783 7 #define DEBUG 1 //entre ne mode debug oui=1 non =0
aure 0:238a3e4fa7bc 8
aure 0:238a3e4fa7bc 9
aure 0:238a3e4fa7bc 10
aure 0:238a3e4fa7bc 11 //mot de passe PIN 1390
aure 0:238a3e4fa7bc 12 //Serial HC06(p13,p14);
aure 0:238a3e4fa7bc 13 Serial pc(USBTX,USBRX);
aure 0:238a3e4fa7bc 14
aure 0:238a3e4fa7bc 15
aure 0:238a3e4fa7bc 16
aure 0:238a3e4fa7bc 17 int main() {
aure 1:1d7dc9751783 18
aure 1:1d7dc9751783 19
aure 0:238a3e4fa7bc 20 Bluetooth_HC05_LE_TRAME blu;
aure 0:238a3e4fa7bc 21 Robot robot;
aure 0:238a3e4fa7bc 22 LED_Debug d;
aure 0:238a3e4fa7bc 23
aure 0:238a3e4fa7bc 24
aure 1:1d7dc9751783 25 if(DEBUG==1)
aure 1:1d7dc9751783 26 {
aure 1:1d7dc9751783 27 pc.printf("DEBUT DEBUG\r\n");
aure 1:1d7dc9751783 28 }
aure 0:238a3e4fa7bc 29
aure 1:1d7dc9751783 30
aure 0:238a3e4fa7bc 31
aure 1:1d7dc9751783 32 blu.envoyer("OKCOM\r\n");
aure 1:1d7dc9751783 33
aure 0:238a3e4fa7bc 34
aure 1:1d7dc9751783 35
aure 0:238a3e4fa7bc 36
aure 0:238a3e4fa7bc 37 ////////////////////////////////////////////
aure 0:238a3e4fa7bc 38
aure 0:238a3e4fa7bc 39 blu.resetBuffer();
aure 0:238a3e4fa7bc 40
aure 0:238a3e4fa7bc 41 ///////////////////////////////////////////
aure 0:238a3e4fa7bc 42
aure 0:238a3e4fa7bc 43 int copie;
aure 0:238a3e4fa7bc 44 int i=0;
aure 1:1d7dc9751783 45 if(DEBUG==1) //////////////////////////////////////////////DEBUG==1/////////////////
aure 1:1d7dc9751783 46 {
aure 0:238a3e4fa7bc 47 while(1)
aure 0:238a3e4fa7bc 48 {
aure 0:238a3e4fa7bc 49
aure 1:1d7dc9751783 50 if (blu.donneesRecue()==1)
aure 1:1d7dc9751783 51 {
aure 1:1d7dc9751783 52 pc.printf("1\r\n");
aure 1:1d7dc9751783 53
aure 1:1d7dc9751783 54 int compteur=0;
aure 1:1d7dc9751783 55 while(blu.donneesRecue()==1)
aure 1:1d7dc9751783 56 {
aure 1:1d7dc9751783 57 pc.printf("11\r\n");
aure 1:1d7dc9751783 58 blu.recevoir();
aure 1:1d7dc9751783 59 pc.printf("12\r\n");
aure 1:1d7dc9751783 60 }
aure 1:1d7dc9751783 61 pc.printf("13\r\n");
aure 1:1d7dc9751783 62 char*recu=blu.getBuf();
aure 1:1d7dc9751783 63 for(i=0;i<blu.getLongueurTrame();i++)
aure 1:1d7dc9751783 64 {
aure 1:1d7dc9751783 65 printf("recu%d = %c\r\n",i,recu[i]);
aure 1:1d7dc9751783 66 }
aure 1:1d7dc9751783 67 pc.printf("14\r\n");
aure 1:1d7dc9751783 68 // blu.envoyer(strcat(recu,"\r\n"));
aure 1:1d7dc9751783 69 pc.printf("15\r\n");
aure 1:1d7dc9751783 70 robot.action(recu[2],recu[0],recu[1]);
aure 1:1d7dc9751783 71 pc.printf("16\r\n");
aure 1:1d7dc9751783 72 blu.envoyer("ok\r\n");
aure 1:1d7dc9751783 73 pc.printf("17\r\n");
aure 1:1d7dc9751783 74
aure 1:1d7dc9751783 75 blu.resetBuffer();
aure 1:1d7dc9751783 76 pc.printf("18\r\n");
aure 1:1d7dc9751783 77 // wait(2);
aure 1:1d7dc9751783 78 pc.printf("19\r\n");
aure 0:238a3e4fa7bc 79
aure 1:1d7dc9751783 80 }
aure 1:1d7dc9751783 81
aure 1:1d7dc9751783 82 }
aure 1:1d7dc9751783 83 }
aure 1:1d7dc9751783 84
aure 1:1d7dc9751783 85 else //DEBUG==0////////////////////////////////////////////////////////////////////
aure 1:1d7dc9751783 86 {
aure 1:1d7dc9751783 87 while(1)
aure 1:1d7dc9751783 88 {
aure 0:238a3e4fa7bc 89
aure 1:1d7dc9751783 90 if (blu.donneesRecue()==1)
aure 1:1d7dc9751783 91 {
aure 1:1d7dc9751783 92 pc.printf("1\r\n");
aure 1:1d7dc9751783 93
aure 1:1d7dc9751783 94 int compteur=0;
aure 1:1d7dc9751783 95 while(blu.donneesRecue()==1)
aure 1:1d7dc9751783 96 {
aure 1:1d7dc9751783 97 pc.printf("11\r\n");
aure 1:1d7dc9751783 98 blu.recevoir();
aure 1:1d7dc9751783 99 pc.printf("12\r\n");
aure 1:1d7dc9751783 100 }
aure 1:1d7dc9751783 101 pc.printf("13\r\n");
aure 1:1d7dc9751783 102 char*recu=blu.getBuf();
aure 1:1d7dc9751783 103 pc.printf("14\r\n");
aure 1:1d7dc9751783 104 // blu.envoyer(strcat(recu,"\r\n"));
aure 1:1d7dc9751783 105 pc.printf("15\r\n");
aure 1:1d7dc9751783 106 robot.action(recu[2],recu[0],recu[1]);
aure 1:1d7dc9751783 107 pc.printf("16\r\n");
aure 1:1d7dc9751783 108 blu.envoyer("ok\r\n");
aure 1:1d7dc9751783 109 pc.printf("17\r\n");
aure 1:1d7dc9751783 110
aure 1:1d7dc9751783 111 blu.resetBuffer();
aure 1:1d7dc9751783 112 pc.printf("18\r\n");
aure 1:1d7dc9751783 113 // wait(2);
aure 1:1d7dc9751783 114 pc.printf("19\r\n");
aure 1:1d7dc9751783 115
aure 1:1d7dc9751783 116 }
aure 0:238a3e4fa7bc 117
aure 1:1d7dc9751783 118 }
aure 0:238a3e4fa7bc 119 }
aure 1:1d7dc9751783 120 /////////////////////////////////////////////////////////////////////////////////////////////////////
aure 0:238a3e4fa7bc 121 }
aure 1:1d7dc9751783 122