Projet_APP5 / zumo

librairie pour robot Zumo

zumo.cpp@11:1082c5b3b418, 2022-01-10 (annotated)

Committer:
bouaziz
Date:
Mon Jan 10 08:59:37 2022 +0000
Revision:
11:1082c5b3b418
Parent:
10:7935bbc4ebf1
Child:
12:d9c9ef63c5ff
Zumo lib Polytech paris Saclay

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bouaziz 10:7935bbc4ebf1 1 /* zumo Library
bouaziz 10:7935bbc4ebf1 2 */
chris 0:e6020bd04b45 3
chris 0:e6020bd04b45 4 #include "mbed.h"
bouaziz 10:7935bbc4ebf1 5 #include "zumo.h"
chris 0:e6020bd04b45 6
bouaziz 10:7935bbc4ebf1 7 zumo::zumo(PinName nrst, PinName tx, PinName rx) : _nrst(nrst), _ser(tx, rx) {
bouaziz 11:1082c5b3b418 8 _ser.baud(57600);
chris 0:e6020bd04b45 9 reset();
chris 0:e6020bd04b45 10 }
chris 0:e6020bd04b45 11
bouaziz 10:7935bbc4ebf1 12 zumo::zumo(): _nrst(p23), _ser(p9, p10){
bouaziz 11:1082c5b3b418 13 _ser.baud(57600);
bouaziz 10:7935bbc4ebf1 14 }
bouaziz 10:7935bbc4ebf1 15
bouaziz 10:7935bbc4ebf1 16
bouaziz 10:7935bbc4ebf1 17 void zumo::reset () {
chris 7:9b128cebb3c2 18 }
chris 7:9b128cebb3c2 19
chris 7:9b128cebb3c2 20
bouaziz 10:7935bbc4ebf1 21 void zumo::stop (void) {
bouaziz 11:1082c5b3b418 22 _ser.putc(SEND_MOTOR_STOP);
bouaziz 11:1082c5b3b418 23 _ser.getc();
bouaziz 11:1082c5b3b418 24
chris 0:e6020bd04b45 25 }
chris 0:e6020bd04b45 26
bouaziz 10:7935bbc4ebf1 27 char zumo::speed(short spg,short spd){
bouaziz 11:1082c5b3b418 28 char v;
bouaziz 11:1082c5b3b418 29 _ser.putc(SEND_MOTOR_SPEED);
bouaziz 10:7935bbc4ebf1 30 _ser.putc(spg&0xff);
bouaziz 10:7935bbc4ebf1 31 _ser.putc((spg>>8)&0xff);
bouaziz 10:7935bbc4ebf1 32 _ser.putc(spd&0xff);
bouaziz 10:7935bbc4ebf1 33 _ser.putc((spd>>8)&0xff);
bouaziz 10:7935bbc4ebf1 34 v=_ser.getc();
bouaziz 10:7935bbc4ebf1 35 return v;
chris 0:e6020bd04b45 36 }
chris 0:e6020bd04b45 37
bouaziz 10:7935bbc4ebf1 38 float zumo::battery() {
bouaziz 10:7935bbc4ebf1 39
chris 0:e6020bd04b45 40 }
chris 0:e6020bd04b45 41
chris 0:e6020bd04b45 42
bouaziz 10:7935bbc4ebf1 43 float zumo::line_position() {
bouaziz 10:7935bbc4ebf1 44
chris 0:e6020bd04b45 45 }
chris 0:e6020bd04b45 46
bouaziz 10:7935bbc4ebf1 47 void zumo::calibrated_sensors(unsigned short ltab[5]) {
bouaziz 10:7935bbc4ebf1 48
chris 0:e6020bd04b45 49 }
chris 0:e6020bd04b45 50
bouaziz 10:7935bbc4ebf1 51 char zumo::sensor_auto_calibrate() {
bouaziz 10:7935bbc4ebf1 52
chris 5:09fb0636207b 53 }
chris 5:09fb0636207b 54
chris 5:09fb0636207b 55
bouaziz 10:7935bbc4ebf1 56 void zumo::PID_start(int max_speed, int a, int b, int c, int d) {
bouaziz 10:7935bbc4ebf1 57
chris 0:e6020bd04b45 58 }
chris 0:e6020bd04b45 59
bouaziz 10:7935bbc4ebf1 60 void zumo::PID_stop() {
bouaziz 10:7935bbc4ebf1 61
chris 0:e6020bd04b45 62 }
chris 0:e6020bd04b45 63
chris 0:e6020bd04b45 64
chris 0:e6020bd04b45 65
bouaziz 10:7935bbc4ebf1 66 void zumo::leds(int val) {
chris 0:e6020bd04b45 67
bouaziz 10:7935bbc4ebf1 68 }
chris 0:e6020bd04b45 69