Projet_APP5 / zumo

librairie pour robot Zumo

zumo.cpp@12:d9c9ef63c5ff, 2022-01-10 (annotated)

Committer:
bouaziz
Date:
Mon Jan 10 23:00:47 2022 +0000
Revision:
12:d9c9ef63c5ff
Parent:
11:1082c5b3b418 
amelioration lib Zumo 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 12:d9c9ef63c5ff 38 // angle envoyé au centime de deg rot et sens trigo
bouaziz 12:d9c9ef63c5ff 39 char zumo::rotate_speed_gyro_wait (short spd,short rot){
bouaziz 12:d9c9ef63c5ff 40 char v;
bouaziz 12:d9c9ef63c5ff 41 _ser.putc(SEND_ROTATE_GYRO);
bouaziz 12:d9c9ef63c5ff 42 _ser.putc(spd&0xff);
bouaziz 12:d9c9ef63c5ff 43 _ser.putc((spd>>8)&0xff);
bouaziz 12:d9c9ef63c5ff 44 _ser.putc(rot&0xff);
bouaziz 12:d9c9ef63c5ff 45 _ser.putc((rot>>8)&0xff);
bouaziz 12:d9c9ef63c5ff 46 v=_ser.getc();
bouaziz 12:d9c9ef63c5ff 47 v=_ser.getc();
bouaziz 12:d9c9ef63c5ff 48 return v;
bouaziz 12:d9c9ef63c5ff 49 }
bouaziz 12:d9c9ef63c5ff 50
bouaziz 12:d9c9ef63c5ff 51 char zumo::Calibrate_line_sensor_wait (){
bouaziz 12:d9c9ef63c5ff 52 char v;
bouaziz 12:d9c9ef63c5ff 53 _ser.putc(SEND_CALIBRE_LIGNE);
bouaziz 12:d9c9ef63c5ff 54 v=_ser.getc(); //accusé commande prise
bouaziz 12:d9c9ef63c5ff 55 v=_ser.getc(); // accusé commande terminée
bouaziz 12:d9c9ef63c5ff 56 return v;
bouaziz 12:d9c9ef63c5ff 57 }
bouaziz 12:d9c9ef63c5ff 58
bouaziz 12:d9c9ef63c5ff 59
bouaziz 12:d9c9ef63c5ff 60 char zumo::read_data_wait (char whatdata,char*tab){
bouaziz 12:d9c9ef63c5ff 61 char v;
bouaziz 12:d9c9ef63c5ff 62 _ser.putc(SEND_ROTATE_GYRO);
bouaziz 12:d9c9ef63c5ff 63 _ser.putc(whatdata&0xff);
bouaziz 12:d9c9ef63c5ff 64 v=_ser.getc();
bouaziz 12:d9c9ef63c5ff 65 /*#define DATA_SENSOR_GYRO 0x12
bouaziz 12:d9c9ef63c5ff 66 #define DATA_SENSOR_MEANDIST 0x24
bouaziz 12:d9c9ef63c5ff 67 #define DATA_SENSOR_LRDIST 0x38
bouaziz 12:d9c9ef63c5ff 68 #define DATA_SENSOR_LIGNE 0x42
bouaziz 12:d9c9ef63c5ff 69 #define DATA_SENSOR_LIGNE_5BIT 0x51
bouaziz 12:d9c9ef63c5ff 70 #define DATA_SENSOR_OBSTACLE 0x62*/
bouaziz 12:d9c9ef63c5ff 71 v=v&0x0F;
bouaziz 12:d9c9ef63c5ff 72 if(v!=0){
bouaziz 12:d9c9ef63c5ff 73 for(char i=0;i<v;i++){
bouaziz 12:d9c9ef63c5ff 74 tab[i]= _ser.getc();
bouaziz 12:d9c9ef63c5ff 75 }
bouaziz 12:d9c9ef63c5ff 76 return 0x0A;
bouaziz 12:d9c9ef63c5ff 77 // retour de donnée
bouaziz 12:d9c9ef63c5ff 78 }else{
bouaziz 12:d9c9ef63c5ff 79 return 0x0E;
bouaziz 12:d9c9ef63c5ff 80 }
bouaziz 12:d9c9ef63c5ff 81 }
bouaziz 12:d9c9ef63c5ff 82
bouaziz 12:d9c9ef63c5ff 83
bouaziz 12:d9c9ef63c5ff 84 // avance tout droit de dist mm limite de 3000mm
bouaziz 12:d9c9ef63c5ff 85 // avec speed positif (car calcul sens par dist)
bouaziz 12:d9c9ef63c5ff 86 // angle envoyé au centime de deg rot et sens trigo
bouaziz 12:d9c9ef63c5ff 87 char zumo::avance_wait(short spd, short dist){
bouaziz 12:d9c9ef63c5ff 88 char v;
bouaziz 12:d9c9ef63c5ff 89 if(dist<=3000) {
bouaziz 12:d9c9ef63c5ff 90 _ser.putc(SEND_AVANCE);
bouaziz 12:d9c9ef63c5ff 91 _ser.putc(spd&0xff);
bouaziz 12:d9c9ef63c5ff 92 _ser.putc((spd>>8)&0xff);
bouaziz 12:d9c9ef63c5ff 93 _ser.putc(dist&0xff);
bouaziz 12:d9c9ef63c5ff 94 _ser.putc((dist>>8)&0xff);
bouaziz 12:d9c9ef63c5ff 95 v=_ser.getc();
bouaziz 12:d9c9ef63c5ff 96 v=_ser.getc(); // 0x0B bloquant jusqu'à fin trajectoire
bouaziz 12:d9c9ef63c5ff 97 return v;
bouaziz 12:d9c9ef63c5ff 98 }else{
bouaziz 12:d9c9ef63c5ff 99 return (0x0E);
bouaziz 12:d9c9ef63c5ff 100 }
bouaziz 12:d9c9ef63c5ff 101 }
bouaziz 12:d9c9ef63c5ff 102
bouaziz 10:7935bbc4ebf1 103 float zumo::battery() {
bouaziz 10:7935bbc4ebf1 104
chris 0:e6020bd04b45 105 }
chris 0:e6020bd04b45 106
chris 0:e6020bd04b45 107
bouaziz 10:7935bbc4ebf1 108 float zumo::line_position() {
bouaziz 10:7935bbc4ebf1 109
chris 0:e6020bd04b45 110 }
chris 0:e6020bd04b45 111
bouaziz 10:7935bbc4ebf1 112 void zumo::calibrated_sensors(unsigned short ltab[5]) {
bouaziz 10:7935bbc4ebf1 113
chris 0:e6020bd04b45 114 }
chris 0:e6020bd04b45 115
chris 5:09fb0636207b 116
bouaziz 10:7935bbc4ebf1 117 void zumo::PID_start(int max_speed, int a, int b, int c, int d) {
bouaziz 10:7935bbc4ebf1 118
chris 0:e6020bd04b45 119 }
chris 0:e6020bd04b45 120
bouaziz 10:7935bbc4ebf1 121 void zumo::PID_stop() {
bouaziz 10:7935bbc4ebf1 122
chris 0:e6020bd04b45 123 }
chris 0:e6020bd04b45 124
chris 0:e6020bd04b45 125
chris 0:e6020bd04b45 126
bouaziz 10:7935bbc4ebf1 127 void zumo::leds(int val) {
chris 0:e6020bd04b45 128
bouaziz 10:7935bbc4ebf1 129 }
chris 0:e6020bd04b45 130