ajout de l'imu pour nucleo
Dependencies: mbed HC_SR04_Ultrasonic_Library IMU_FIP_nucleo Nucleo_Sensor_Shield VL6180x_lib
main.cpp@14:4f85e35de719, 2015-07-07 (annotated)
- Committer:
- julientiron
- Date:
- Tue Jul 07 20:37:40 2015 +0000
- Revision:
- 14:4f85e35de719
- Parent:
- 4:149c4509b35d
Robot with semi-autonomous behavior (basic obstacle avoidance)
Who changed what in which revision?
User | Revision | Line number | New 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 | } |