Robot_tennis / Mbed 2 deprecated Homologation_Robot_Tennis

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Dependencies:   mbed

main.cpp@1:5d958973e71a, 2022-06-10 (annotated)

Committer:
wiz0rk
Date:
Fri Jun 10 05:31:14 2022 +0000
Revision:
1:5d958973e71a
Parent:
0:c2fc9085cc53 
homo V2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
wiz0rk 0:c2fc9085cc53 1 #include "mbed.h"
wiz0rk 0:c2fc9085cc53 2 //CNY70
wiz0rk 0:c2fc9085cc53 3 DigitalIn CNY_1 (PA_12);
wiz0rk 0:c2fc9085cc53 4 DigitalIn CNY_2 (PB_2);
wiz0rk 0:c2fc9085cc53 5 DigitalIn CNY_3 (PC_6);
wiz0rk 0:c2fc9085cc53 6 DigitalIn CNY_4 (PB_12);
wiz0rk 0:c2fc9085cc53 7
wiz0rk 0:c2fc9085cc53 8 // Moteur 1
wiz0rk 0:c2fc9085cc53 9 DigitalOut INA1(PA_10);
wiz0rk 0:c2fc9085cc53 10 DigitalOut INB1(PB_3);
wiz0rk 0:c2fc9085cc53 11 DigitalOut EN1(PB_10);
wiz0rk 0:c2fc9085cc53 12 PwmOut PWM1(PB_14);
wiz0rk 0:c2fc9085cc53 13
wiz0rk 0:c2fc9085cc53 14 // Moteur 2
wiz0rk 0:c2fc9085cc53 15 DigitalOut INA2(PA_8);
wiz0rk 0:c2fc9085cc53 16 DigitalOut INB2(PA_9);
wiz0rk 0:c2fc9085cc53 17 DigitalOut EN2(PA_6);
wiz0rk 0:c2fc9085cc53 18 PwmOut PWM2(PB_13);
wiz0rk 0:c2fc9085cc53 19
wiz0rk 0:c2fc9085cc53 20 DigitalIn Jack (PB_15, PullUp);
wiz0rk 0:c2fc9085cc53 21
wiz0rk 0:c2fc9085cc53 22 void init_moteur() ;
wiz0rk 0:c2fc9085cc53 23
wiz0rk 0:c2fc9085cc53 24
wiz0rk 0:c2fc9085cc53 25 #define vitesse 0.2
wiz0rk 0:c2fc9085cc53 26
wiz0rk 0:c2fc9085cc53 27 bool flag=0;
wiz0rk 0:c2fc9085cc53 28
wiz0rk 0:c2fc9085cc53 29
wiz0rk 0:c2fc9085cc53 30
wiz0rk 0:c2fc9085cc53 31 void init_moteur() {
wiz0rk 0:c2fc9085cc53 32
wiz0rk 0:c2fc9085cc53 33 EN1=1;
wiz0rk 0:c2fc9085cc53 34 INA1 = 0;
wiz0rk 0:c2fc9085cc53 35 INB1 = 0;
wiz0rk 0:c2fc9085cc53 36 PWM1.period(0.00005); // 20 kHz (valid 0 - 20 kHz)
wiz0rk 0:c2fc9085cc53 37 PWM1.write(0);
wiz0rk 0:c2fc9085cc53 38 EN2=1;
wiz0rk 0:c2fc9085cc53 39 INA2 = 0;
wiz0rk 0:c2fc9085cc53 40 INB2 = 0;
wiz0rk 0:c2fc9085cc53 41 PWM2.period(0.00005); // 20 kHz (valid 0 - 20 kHz)
wiz0rk 0:c2fc9085cc53 42 PWM2.write(0);
wiz0rk 0:c2fc9085cc53 43 }
wiz0rk 0:c2fc9085cc53 44
wiz0rk 0:c2fc9085cc53 45 int main()
wiz0rk 0:c2fc9085cc53 46 {
wiz0rk 0:c2fc9085cc53 47
wiz0rk 0:c2fc9085cc53 48
wiz0rk 0:c2fc9085cc53 49
wiz0rk 0:c2fc9085cc53 50 init_moteur();
wiz0rk 0:c2fc9085cc53 51 while (true)
wiz0rk 0:c2fc9085cc53 52 {
wiz0rk 0:c2fc9085cc53 53 if (Jack==1){
wiz0rk 0:c2fc9085cc53 54 if (CNY_1==1 and CNY_2==1 and CNY_3==1 and CNY_4==1 and flag==0){
wiz0rk 0:c2fc9085cc53 55 INA1 = 1;
wiz0rk 0:c2fc9085cc53 56 INB1 = 0;
wiz0rk 0:c2fc9085cc53 57 INA2 = 0;
wiz0rk 0:c2fc9085cc53 58 INB2 = 1;
wiz0rk 0:c2fc9085cc53 59 PWM1.write(vitesse);
wiz0rk 0:c2fc9085cc53 60 PWM2.write(vitesse);
wiz0rk 0:c2fc9085cc53 61 flag=1;
wiz0rk 0:c2fc9085cc53 62 wait (0.3);
wiz0rk 0:c2fc9085cc53 63 PWM1.write(0);
wiz0rk 0:c2fc9085cc53 64 PWM2.write(0);
wiz0rk 0:c2fc9085cc53 65 }
wiz0rk 0:c2fc9085cc53 66 if (CNY_1==0 and CNY_2==0 and CNY_3==0 and CNY_4==0 and flag==0){
wiz0rk 0:c2fc9085cc53 67 INA1 = 0;
wiz0rk 0:c2fc9085cc53 68 INB1 = 1;
wiz0rk 0:c2fc9085cc53 69 INA2 = 1;
wiz0rk 0:c2fc9085cc53 70 INB2 = 0;
wiz0rk 0:c2fc9085cc53 71 PWM1.write(vitesse);
wiz0rk 1:5d958973e71a 72 PWM2.write(vitesse+0.005);
wiz0rk 0:c2fc9085cc53 73 }
wiz0rk 0:c2fc9085cc53 74 }
wiz0rk 0:c2fc9085cc53 75
wiz0rk 0:c2fc9085cc53 76
wiz0rk 0:c2fc9085cc53 77 }
wiz0rk 0:c2fc9085cc53 78
wiz0rk 0:c2fc9085cc53 79 }
wiz0rk 0:c2fc9085cc53 80
wiz0rk 0:c2fc9085cc53 81
wiz0rk 0:c2fc9085cc53 82