Diff: zumo.h

Revision:

12:d9c9ef63c5ff

Parent:

11:1082c5b3b418

--- a/zumo.h	Mon Jan 10 08:59:37 2022 +0000
+++ b/zumo.h	Mon Jan 10 23:00:47 2022 +0000
@@ -26,9 +26,23 @@
 #include "mbed.h"
 #include "platform.h"
 
-
+// commandes pour le ZUMO
 #define SEND_MOTOR_SPEED 0xA4
 #define SEND_MOTOR_STOP 0xA0
+#define SEND_ROTATE_GYRO 0x94
+#define SEND_AVANCE 0x84
+#define SEND_CALIBRE_LIGNE 0x60
+#define READ_SENSOR 0x71
+
+
+
+// sous commande de la commande READ_SENSOR
+#define DATA_SENSOR_GYRO    0x12
+#define DATA_SENSOR_MEANDIST  0x24
+#define DATA_SENSOR_LRDIST   0x38
+#define DATA_SENSOR_LIGNE 0x42
+#define DATA_SENSOR_LIGNE_5BIT 0x51
+#define DATA_SENSOR_OBSTACLE 0x62
 
 
 
@@ -135,11 +149,22 @@
     *  
     */
     char speed(short spg,short spd);
-
-    /** Calibrate the sensors. This turns the robot left then right, looking for a line
-     *
+    
+    //  speed vitesse absolue
+    // rot exprim au 1/100eme de deg  45.01 sera 4501
+    char rotate_speed_gyro_wait (short spd,short rot);
+ 
+ // avance tout droit de dist mm
+ // avec speed positif (car calcul sens par dist)
+ // angle envoyé au centime de deg  rot  et sens trigo
+    char avance_wait(short spd, short dist); 
+    
+    /** Calibrate the sensors.
      */
-    char sensor_auto_calibrate (void);
+    char Calibrate_line_sensor_wait ();
+    
+    char read_data_wait (char whatdata,char*tab);
+    
 
     void PID_start(int max_speed, int a, int b, int c, int d);