Robotique FIP / Mbed 2 deprecated Coupe Robotique FIP

L'équipe robotique FIP a pour but de participer à la Coupe de France de Robotique (http://www.planete-sciences.org/robot/?section=pages&pageid=79). L'équipe est composée d'étudiants de l'école d'ingénieur Télécom Bretagne en filière par partenariat. Nous utilisons comme plateforme les microcontrôleurs STM32 associés aux cartes NUCLEO.

Dependencies:   mbed HC_SR04_Ultrasonic_Library Nucleo_Sensor_Shield VL6180x_lib

Fork of Coupe Robotique FIP by Julien Tiron

We are a team of students building an autonomous robot which will compete in the French Robotic Cup.

main.cpp@7:dc76d89a8d51, 2015-04-10 (annotated)

Committer:
quentin9696
Date:
Fri Apr 10 22:11:39 2015 +0000
Revision:
7:dc76d89a8d51
Parent:
2:32226f1d12e5
Child:
8:e3d7a4a34088
modif main pour test 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"
quentin9696 7:dc76d89a8d51 3 #include "Imu.h"
julientiron 2:32226f1d12e5 4
quentin9696 7:dc76d89a8d51 5 /*
julientiron 2:32226f1d12e5 6 void dist(int distance)
julientiron 2:32226f1d12e5 7 {
julientiron 2:32226f1d12e5 8 //put code here to happen when the distance is changed
julientiron 2:32226f1d12e5 9 printf("Distance changed to %dmm\r\n", distance);
julientiron 2:32226f1d12e5 10 }
julientiron 2:32226f1d12e5 11
julientiron 2:32226f1d12e5 12 ultrasonic mu(D8, D9, .1, 1, &dist); //Set the trigger pin to D8 and the echo pin to D9
julientiron 2:32226f1d12e5 13 //have updates every .1 seconds and a timeout after 1
julientiron 2:32226f1d12e5 14 //second, and call dist when the distance changes
julientiron 2:32226f1d12e5 15
julientiron 2:32226f1d12e5 16 int main()
julientiron 2:32226f1d12e5 17 {
julientiron 2:32226f1d12e5 18 mu.startUpdates();//start mesuring the distance
julientiron 2:32226f1d12e5 19 while(1)
julientiron 2:32226f1d12e5 20 {
julientiron 2:32226f1d12e5 21 //Do something else here
julientiron 2:32226f1d12e5 22 mu.checkDistance(); //call checkDistance() as much as possible, as this is where
julientiron 2:32226f1d12e5 23 //the class checks if dist needs to be called.
julientiron 2:32226f1d12e5 24 }
quentin9696 7:dc76d89a8d51 25 }*/
quentin9696 7:dc76d89a8d51 26
quentin9696 7:dc76d89a8d51 27 Imu i;
quentin9696 7:dc76d89a8d51 28 Serial pc(SERIAL_TX, SERIAL_RX);
quentin9696 7:dc76d89a8d51 29 DigitalOut myled(LED1);
quentin9696 7:dc76d89a8d51 30 Data_IMU * foo;
quentin9696 7:dc76d89a8d51 31 Data_IMU * bar;
quentin9696 7:dc76d89a8d51 32
quentin9696 7:dc76d89a8d51 33 int main()
quentin9696 7:dc76d89a8d51 34 {
quentin9696 7:dc76d89a8d51 35
quentin9696 7:dc76d89a8d51 36 i.setOffset();
quentin9696 7:dc76d89a8d51 37 foo = i.getOffset();
quentin9696 7:dc76d89a8d51 38 bar = i.getData();
quentin9696 7:dc76d89a8d51 39
quentin9696 7:dc76d89a8d51 40 while(1) {
quentin9696 7:dc76d89a8d51 41
quentin9696 7:dc76d89a8d51 42 myled = 1; // LED is ON
quentin9696 7:dc76d89a8d51 43 wait(0.2); // 200 ms
quentin9696 7:dc76d89a8d51 44 myled = 0; // LED is OFF
quentin9696 7:dc76d89a8d51 45 wait(10);
quentin9696 7:dc76d89a8d51 46
quentin9696 7:dc76d89a8d51 47 i.refresh(1);
quentin9696 7:dc76d89a8d51 48
quentin9696 7:dc76d89a8d51 49
quentin9696 7:dc76d89a8d51 50 pc.printf("OFFSET : \r\n");
quentin9696 7:dc76d89a8d51 51 pc.printf("Temperature:\t\t %f C\r\n", foo->TEMPERATURE_Value_C);
quentin9696 7:dc76d89a8d51 52 pc.printf("Humidity:\t\t %f%%\r\n", foo->HUMIDITY_Value);
quentin9696 7:dc76d89a8d51 53 pc.printf("Pressure:\t\t %f hPa\r\n", foo->PRESSURE_Value);
quentin9696 7:dc76d89a8d51 54 pc.printf("Magnetometer (mGauss):\t X: %d, Y: %d, Z: %d\r\n", foo->MAG_Value->AXIS_X, foo->MAG_Value->AXIS_Y, foo->MAG_Value->AXIS_Z);
quentin9696 7:dc76d89a8d51 55 pc.printf("Accelerometer (mg):\t X: %d, Y: %d, Z: %d\r\n", foo->ACC_Value->AXIS_X, foo->ACC_Value->AXIS_Y, foo->ACC_Value->AXIS_Z);
quentin9696 7:dc76d89a8d51 56 pc.printf("Gyroscope (mdps):\t X: %d, Y: %d, Z: %d\r\n", foo->GYR_Value->AXIS_X, foo->GYR_Value->AXIS_Y, foo->GYR_Value->AXIS_Z);
quentin9696 7:dc76d89a8d51 57 pc.printf("\r\n");
quentin9696 7:dc76d89a8d51 58
quentin9696 7:dc76d89a8d51 59 pc.printf("OFFSET DATA : \r\n");
quentin9696 7:dc76d89a8d51 60 pc.printf("Temperature:\t\t %f C\r\n", bar->TEMPERATURE_Value_C);
quentin9696 7:dc76d89a8d51 61 pc.printf("Humidity:\t\t %f%%\r\n", bar->HUMIDITY_Value);
quentin9696 7:dc76d89a8d51 62 pc.printf("Pressure:\t\t %f hPa\r\n", bar->PRESSURE_Value);
quentin9696 7:dc76d89a8d51 63 pc.printf("Magnetometer (mGauss):\t X: %d, Y: %d, Z: %d\r\n", bar->MAG_Value->AXIS_X, bar->MAG_Value->AXIS_Y, bar->MAG_Value->AXIS_Z);
quentin9696 7:dc76d89a8d51 64 pc.printf("Accelerometer (mg):\t X: %d, Y: %d, Z: %d\r\n", bar->ACC_Value->AXIS_X, bar->ACC_Value->AXIS_Y, bar->ACC_Value->AXIS_Z);
quentin9696 7:dc76d89a8d51 65 pc.printf("Gyroscope (mdps):\t X: %d, Y: %d, Z: %d\r\n", bar->GYR_Value->AXIS_X, bar->GYR_Value->AXIS_Y, bar->GYR_Value->AXIS_Z);
quentin9696 7:dc76d89a8d51 66 pc.printf("\r\n");
quentin9696 7:dc76d89a8d51 67
quentin9696 7:dc76d89a8d51 68
quentin9696 7:dc76d89a8d51 69 }
julientiron 2:32226f1d12e5 70 }
quentin9696 7:dc76d89a8d51 71
quentin9696 7:dc76d89a8d51 72