Diff: main.cpp

Revision:

0:c2fc9085cc53

Child:

1:5d958973e71a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 10 00:12:59 2022 +0000
@@ -0,0 +1,82 @@
+#include "mbed.h"
+//CNY70
+DigitalIn CNY_1 (PA_12);
+DigitalIn CNY_2 (PB_2);
+DigitalIn CNY_3 (PC_6);
+DigitalIn CNY_4 (PB_12);
+
+// Moteur 1
+DigitalOut INA1(PA_10);
+DigitalOut INB1(PB_3);
+DigitalOut EN1(PB_10);
+PwmOut PWM1(PB_14);
+ 
+// Moteur 2
+DigitalOut INA2(PA_8);
+DigitalOut INB2(PA_9);
+DigitalOut EN2(PA_6);
+PwmOut PWM2(PB_13);
+
+DigitalIn Jack (PB_15, PullUp);
+
+void init_moteur() ;
+
+ 
+#define vitesse 0.2
+ 
+bool flag=0;
+
+
+
+void init_moteur() {
+    
+   EN1=1;
+   INA1 = 0;
+   INB1 = 0;
+   PWM1.period(0.00005);   // 20 kHz (valid 0 - 20 kHz)
+   PWM1.write(0);
+   EN2=1;
+   INA2 = 0;
+   INB2 = 0;
+   PWM2.period(0.00005);   // 20 kHz (valid 0 - 20 kHz)
+   PWM2.write(0);
+   }
+
+int main() 
+{
+ 
+
+
+init_moteur();
+      while (true) 
+      {
+        if (Jack==1){
+            if (CNY_1==1 and CNY_2==1 and CNY_3==1 and CNY_4==1 and flag==0){
+                INA1 = 1;
+                INB1 = 0;
+               INA2 = 0;
+               INB2 = 1;
+               PWM1.write(vitesse);
+               PWM2.write(vitesse);
+               flag=1;   
+               wait (0.3);
+               PWM1.write(0);
+               PWM2.write(0);
+            } 
+            if (CNY_1==0 and CNY_2==0 and CNY_3==0 and CNY_4==0 and flag==0){
+                INA1 = 0;
+                INB1 = 1;
+                INA2 = 1;
+                INB2 = 0;
+                PWM1.write(vitesse);
+                PWM2.write(vitesse);
+            }
+        }
+        
+        
+      }
+  
+}
+ 
+ 
+