Projet_APP5 / zumo

librairie pour robot Zumo

zumo.cpp@10:7935bbc4ebf1, 2021-12-08 (annotated)

Committer:
bouaziz
Date:
Wed Dec 08 16:33:24 2021 +0000
Revision:
10:7935bbc4ebf1
Parent:
m3pi.cpp@9:f65c5aa1775c
Child:
11:1082c5b3b418
projet APP5 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 10:7935bbc4ebf1 8 _ser.baud(38400);
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 10:7935bbc4ebf1 13 _ser.baud(38400);
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 10:7935bbc4ebf1 22 speed(0,0);
chris 0:e6020bd04b45 23 }
chris 0:e6020bd04b45 24
bouaziz 10:7935bbc4ebf1 25 char zumo::speed(short spg,short spd){
bouaziz 10:7935bbc4ebf1 26 char v=0xAB;
bouaziz 10:7935bbc4ebf1 27 _ser.putc(v);
bouaziz 10:7935bbc4ebf1 28 _ser.getc();
bouaziz 10:7935bbc4ebf1 29 _ser.putc(spg&0xff);
bouaziz 10:7935bbc4ebf1 30 _ser.putc((spg>>8)&0xff);
bouaziz 10:7935bbc4ebf1 31 _ser.putc(spd&0xff);
bouaziz 10:7935bbc4ebf1 32 _ser.putc((spd>>8)&0xff);
bouaziz 10:7935bbc4ebf1 33 v=_ser.getc();
bouaziz 10:7935bbc4ebf1 34 return v;
chris 0:e6020bd04b45 35 }
chris 0:e6020bd04b45 36
bouaziz 10:7935bbc4ebf1 37 float zumo::battery() {
bouaziz 10:7935bbc4ebf1 38
chris 0:e6020bd04b45 39 }
chris 0:e6020bd04b45 40
chris 0:e6020bd04b45 41
bouaziz 10:7935bbc4ebf1 42 float zumo::line_position() {
bouaziz 10:7935bbc4ebf1 43
chris 0:e6020bd04b45 44 }
chris 0:e6020bd04b45 45
bouaziz 10:7935bbc4ebf1 46 void zumo::calibrated_sensors(unsigned short ltab[5]) {
bouaziz 10:7935bbc4ebf1 47
chris 0:e6020bd04b45 48 }
chris 0:e6020bd04b45 49
bouaziz 10:7935bbc4ebf1 50 char zumo::sensor_auto_calibrate() {
bouaziz 10:7935bbc4ebf1 51
chris 5:09fb0636207b 52 }
chris 5:09fb0636207b 53
chris 5:09fb0636207b 54
bouaziz 10:7935bbc4ebf1 55 void zumo::PID_start(int max_speed, int a, int b, int c, int d) {
bouaziz 10:7935bbc4ebf1 56
chris 0:e6020bd04b45 57 }
chris 0:e6020bd04b45 58
bouaziz 10:7935bbc4ebf1 59 void zumo::PID_stop() {
bouaziz 10:7935bbc4ebf1 60
chris 0:e6020bd04b45 61 }
chris 0:e6020bd04b45 62
chris 0:e6020bd04b45 63
chris 0:e6020bd04b45 64
bouaziz 10:7935bbc4ebf1 65 void zumo::leds(int val) {
chris 0:e6020bd04b45 66
bouaziz 10:7935bbc4ebf1 67 }
chris 0:e6020bd04b45 68