![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
added serial up, down, left and right control
Dependencies: mbed
Fork of Robot_a_cables_v3_6 by
Diff: main.cpp
- Revision:
- 11:0fa23c2dab76
- Parent:
- 10:fb3542f3c5e6
- Child:
- 12:98a051edb19a
diff -r fb3542f3c5e6 -r 0fa23c2dab76 main.cpp --- a/main.cpp Mon May 28 14:18:32 2018 +0000 +++ b/main.cpp Tue Jun 05 07:24:15 2018 +0000 @@ -141,6 +141,11 @@ BPO.mode(PullUp); initialisation(); // Mise en mode opérationnel des moteurs + + char Xtraj[] = "0.500"; + char Ytraj[] = "0.500"; + char lectpc='i'; + bool contrTraj=false; while(1) { @@ -149,10 +154,10 @@ pc.printf("L1 = %d", l1); pc.printf("\t L2 = %d", l2);*/ if(mode == DEGRAD){ - pc.printf("mode = D"); + pc.printf("mode = d"); } else if(mode == NORMAL){ - pc.printf("mode = N"); + pc.printf("mode = n"); } pc.printf(" x = %f", dx); pc.printf(" y = %f", dy); @@ -165,7 +170,36 @@ CYCLE_TIME = 0; robot.readPosition(&dx, &dy, &mode); //read motors encoders and calculate coordinates position (x,y) - robot.setVelocity(joystick_x.read(),joystick_y.read(),joystick_ctr.read(), mode); //Motors control with the joystick and with the mode we use + if(pc.readable()||contrTraj){ + lectpc=pc.getc(); + if(lectpc!='f'){ + contrTraj=true; + lectpc=pc.getc(); + if(lectpc=='h'){ + /*for(int i=0;i!=5;i++){ + Xtraj[i]=pc.getc(); + } + for(int i=0;i!=5;i++){ + Ytraj[i]=pc.getc(); + }*/ + robot.setVelocity(0.50,0.60,0.5, mode); //Motors control with the joystick and with the mode we use + }; + if(lectpc=='b'){ + robot.setVelocity(0.50,0.40,0.5, mode); //Motors control with the joystick and with the mode we use + }; + if(lectpc=='g'){ + robot.setVelocity(0.60,0.50,0.5, mode); //Motors control with the joystick and with the mode we use + }; + if(lectpc=='d'){ + robot.setVelocity(0.40,0.50,0.5, mode); //Motors control with the joystick and with the mode we use + }; + }else{ + robot.setVelocity(0.50,0.50,0.5,mode); + contrTraj=false; + } + }else{ + robot.setVelocity(joystick_x.read(),joystick_y.read(),joystick_ctr.read(), mode); //Motors control with the joystick and with the mode we use + } robot.readVelocity(&pVx, &pVy);//read velocities applied on the robot display_mode(); // Controle des led affichant le mode