Robotique FIP / Mbed 2 deprecated Coupe-Robotique-FIP-Main

ajout de l'imu pour nucleo

Dependencies:   mbed HC_SR04_Ultrasonic_Library IMU_FIP_nucleo Nucleo_Sensor_Shield VL6180x_lib

main.cpp@16:c2d0a4af388b, 2015-09-27 (annotated)

Committer:
quentin9696
Date:
Sun Sep 27 10:39:15 2015 +0000
Revision:
16:c2d0a4af388b
Parent:
14:4f85e35de719 
ajout lib imu

Who changed what in which revision?

UserRevisionLine numberNew contents of line
julientiron 0:72eb2b48a9e4 1 #include "mbed.h"
julientiron 2:32226f1d12e5 2 #include "ultrasonic.h"
julientiron 14:4f85e35de719 3 #include "VL6180x.h"
julientiron 14:4f85e35de719 4 #include "easyspin.h"
julientiron 2:32226f1d12e5 5
julientiron 14:4f85e35de719 6 #define VL6180X_ADDRESS 0x29
julientiron 2:32226f1d12e5 7
julientiron 14:4f85e35de719 8 Easyspin myEasyspin;
julientiron 14:4f85e35de719 9 DigitalInOut sdaDummy(D14);
julientiron 14:4f85e35de719 10 DigitalInOut sclDummy(D15);
julientiron 14:4f85e35de719 11
julientiron 14:4f85e35de719 12 VL6180xIdentification identification;
julientiron 14:4f85e35de719 13 // mbed uses 8bit addresses shift address by 1 bit left
julientiron 14:4f85e35de719 14 VL6180x sensor(D14, D15, VL6180X_ADDRESS<<1);
julientiron 2:32226f1d12e5 15
julientiron 2:32226f1d12e5 16 int main()
julientiron 2:32226f1d12e5 17 {
julientiron 14:4f85e35de719 18 sdaDummy.mode(PullUp);
julientiron 14:4f85e35de719 19 sclDummy.mode(PullUp);
julientiron 14:4f85e35de719 20 myEasyspin.Begin(2);
julientiron 14:4f85e35de719 21 while(1) {
julientiron 14:4f85e35de719 22 if(sensor.getDistance()<255) {
julientiron 14:4f85e35de719 23 myEasyspin.Run(0, FORWARD);
julientiron 14:4f85e35de719 24 myEasyspin.Run(1, FORWARD);
julientiron 14:4f85e35de719 25 } else {
julientiron 14:4f85e35de719 26 myEasyspin.Run(0, FORWARD);
julientiron 14:4f85e35de719 27 myEasyspin.Run(1, BACKWARD);
julientiron 14:4f85e35de719 28 }
julientiron 14:4f85e35de719 29 wait_ms(200);
julientiron 2:32226f1d12e5 30 }
julientiron 2:32226f1d12e5 31 }