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.
Diff: main.cpp
- Revision:
- 14:4f85e35de719
- Parent:
- 4:149c4509b35d
--- a/main.cpp Fri Apr 10 11:38:18 2015 +0000
+++ b/main.cpp Tue Jul 07 20:37:40 2015 +0000
@@ -1,23 +1,31 @@
#include "mbed.h"
#include "ultrasonic.h"
+#include "VL6180x.h"
+#include "easyspin.h"
- void dist(int distance)
-{
- //code exécuté lorsque la distance change
- printf("Distance changed to %dmm\r\n", distance);
-}
+#define VL6180X_ADDRESS 0x29
-ultrasonic mu(D8, D9, .1, 1, &dist); //Trigger: pin D8; Echo: pin D9
- //Updates toutes les 0.1 secondes et timeout après 1 seconde
- //Appel de dist lorsque la distance change
+Easyspin myEasyspin;
+DigitalInOut sdaDummy(D14);
+DigitalInOut sclDummy(D15);
+
+VL6180xIdentification identification;
+// mbed uses 8bit addresses shift address by 1 bit left
+VL6180x sensor(D14, D15, VL6180X_ADDRESS<<1);
int main()
{
- mu.startUpdates();//démarre la mesure
- while(1)
- {
- //Do something else here
- mu.checkDistance(); //call checkDistance() as much as possible, as this is where
- //the class checks if dist needs to be called.
+ sdaDummy.mode(PullUp);
+ sclDummy.mode(PullUp);
+ myEasyspin.Begin(2);
+ while(1) {
+ if(sensor.getDistance()<255) {
+ myEasyspin.Run(0, FORWARD);
+ myEasyspin.Run(1, FORWARD);
+ } else {
+ myEasyspin.Run(0, FORWARD);
+ myEasyspin.Run(1, BACKWARD);
+ }
+ wait_ms(200);
}
}