Diff: main.cpp

Revision:

9:504c19ac8bba

Parent:

7:f5e10b18984d

--- a/main.cpp	Tue Dec 17 14:25:24 2019 +0000
+++ b/main.cpp	Wed Jan 22 09:35:13 2020 +0000
@@ -1,8 +1,9 @@
-//Includes
+  //Includes
 
 #include "mbed.h"
 #include "SimpleBLE.h"
 #include "LIS3DH.h"
+#include "stdlib.h"
 
 //Accelerometer
 
@@ -11,9 +12,14 @@
 #define CS PC_5
 #define SCLK PC_10
 
+//Bluetooth hc05-6
+
+#define TX D0
+#define RX D1
+
 //Init simpleBLE
 
-SimpleBLE ble("ObCP_CROC_ENSMM");
+SimpleBLE ble("ObCP_Roller_Catcher2");
 
 
 // GPIO set
@@ -21,6 +27,18 @@
 //Interrupt input
 
 InterruptIn user1(PC_13);  //User1
+InterruptIn boutton1(D3);  //Bouton 1 shield
+InterruptIn boutton2(D4);  //Bouton 2 shield 
+InterruptIn event(A0);     //Passage dans la porte laser 
+
+//Création du Timer
+
+Timer timer;
+
+//Sorties numériques
+
+DigitalOut led1(D14);
+DigitalOut transistor(D6);
 
 //PWM output
 
@@ -29,18 +47,49 @@
 PwmOut Red(PC_6);                //PWM Green LED
 PwmOut Blue(PC_9);               //PWM Blue LED
 
+//Création des variables
+
+float flag = 0;
+bool flag2=false;
+int c;
+int temps1;
+int tref;
+char message ;
+float end,begin;
+int temps2 =0;
+
 //Init accelerometer
 
 LIS3DH      acc(MOSI, MISO, SCLK, CS, LIS3DH_DR_NR_LP_50HZ, LIS3DH_FS_2G);
 
-// Characteristics Accelerometer input
+//Création des liaisons série (pc et bluetooth hc-05)
+
+//Serial pc(USBTX, USBRX);
+Serial BT(USBTX,USBRX);
 
-SimpleChar<float> accX = ble.readOnly_float(0xA000, 0xA002);
-SimpleChar<float> accY = ble.readOnly_float(0xA000, 0xA003);
-SimpleChar<float> accZ = ble.readOnly_float(0xA000, 0xA004);
+// Characteristics pour affiche sur l'appli Android via BLE
+
+SimpleChar<float> compteur = ble.readOnly_float(0xA000, 0xA003);
+SimpleChar<float> Temps = ble.readOnly_float(0xA000, 0xA004);
+SimpleChar<float> Temps2 = ble.readOnly_float(0xA000, 0xA007);
 
 
-// When characteristic LED RGB changing
+void envoi(char message)
+{
+    BT.printf("%c\n", message);
+    //  pc.printf("Message envoye \r\n");
+}
+
+void resetUpdate(float rst)
+{
+    //  pc.printf("reset");
+    message = 'R';
+    envoi(message);
+    timer.reset();
+    tref=timer.read_ms();
+}
+
+// Changement de mode de course ou changements couleur led
 
 void LEDupdate(uint32_t newColor)
 {
@@ -51,8 +100,45 @@
     Red   = static_cast<float>(channels[0]) / 255.0f;
     Green = static_cast<float>(channels[1]) / 255.0f;
     Blue  = static_cast<float>(channels[2]) / 255.0f;
+    flag  = static_cast<float>(channels[3]);
+    
+    //  pc.printf("%f\n",flag);
+    if(flag == 1) {
+        //  pc.printf("Mode duo actif");
+        message = 'D';
+        envoi(message);
+        timer.reset();
+        flag2=true;
+    }else if(flag == 0) {
+        //  pc.printf("Mode solo actif   ");
+        message = 'S';
+        //  pc.printf("%c ",message);
+        envoi(message);
+        timer.reset();
+        flag2=false;
+    }
 }
 
+void pressed2(){
+    led1 = !led1;
+    temps2 = timer.read_ms();
+    //  pc.printf("Temps calcule, %i \r\n",temps2); 
+    
+    if(flag2==false){
+        Temps=(temps2-temps1)/1000.0f;
+        //  pc.printf("Temps1 ; %i", temps1);
+        //  pc.printf("Temps de course ; %i", temps2-temps1);
+        
+    }else{
+        //  pc.printf("Temps parcours2 : %i     \n",temps2-tref);
+        //  pc.printf("Temps parcours1 : %i     \n", temps1-tref);
+        Temps = (temps1-tref)/1000.0f;
+        Temps2 = (temps2-tref)/1000.0f;
+    }
+}
+
+
+
 // When characteristic PWM output changing
 
 void PWMupdate(uint8_t pwmvalue)
@@ -66,9 +152,10 @@
 void Accupdate()
 {
 
-    accX = float(short((acc.read_reg(LIS3DH_OUT_X_H) << 8) | acc.read_reg(LIS3DH_OUT_X_L))) * 0.001F / 15;
-    accY = float(short((acc.read_reg(LIS3DH_OUT_Y_H) << 8) | acc.read_reg(LIS3DH_OUT_Y_L))) * 0.001F / 15;
-    accZ = float(short((acc.read_reg(LIS3DH_OUT_Z_H) << 8) | acc.read_reg(LIS3DH_OUT_Z_L))) * 0.001F / 15;
+    //accX = float(short((acc.read_reg(LIS3DH_OUT_X_H) << 8) | acc.read_reg(LIS3DH_OUT_X_L))) * 0.001F / 15;
+    //accY = float(short((acc.read_reg(LIS3DH_OUT_Y_H) << 8) | acc.read_reg(LIS3DH_OUT_Y_L))) * 0.001F / 15;
+    //accZ = float(short((acc.read_reg(LIS3DH_OUT_Z_H) << 8) | acc.read_reg(LIS3DH_OUT_Z_L))) * 0.001F / 15;
+    //Temps=15.68;
 
 }
 
@@ -78,18 +165,107 @@
 // Characteristic PWM output
 SimpleChar<uint8_t> pwmout = ble.writeOnly_u8(0xA000, 0xA001, &PWMupdate);
 
+SimpleChar<float> reset = ble.writeOnly_float(0xA000, 0xA005, &resetUpdate);
+SimpleChar<float> depart_course = ble.writeOnly_float(0xA000, 0xA006, &resetUpdate);
+
+
+
+void skater_d()
+{
+    if(flag==false) {
+        //printf("Ligne de depart coupee solo \n");
+        if( flag == false) {
+            //printf("Depart skate \n");
+            begin = timer.read_ms();
+            compteur=100;
+            //pc.printf("                                         skater lance %.0f \n", begin);
+            flag = true;
+        } else if(flag == true) {
+            //printf("erreur \n");
+            //pc.printf("                                                                      Temps du skater : %.0f \n", end-begin);
+            flag = false;
+        }
+    }
+    else if(flag==true) {
+        //printf("Ligne d'arrivee coupee \n");
+        if( flag == false ) {
+            //printf("arrivee coupe sans depart\n");
+            flag = true;
+        } else if(flag == true ) {
+            //printf("Arrivee skate \n");
+            end = timer.read_ms();
+            //Temps = end-begin;
+            compteur=200;
+            //wait(1);
+            //pc.printf("                                                                      Temps du skater : %.0f \n", end-begin);
+            flag = false;
+        }
+    } 
+}
 
 //Main program
 
+void RXevent (){
+    //timer.start();
+    //c=BT.getc();
+    if(BT.readable()){
+        BT.scanf("%i", &temps1);
+        //wait(1);
+    }    
+    //  pc.printf(" Message recu :%i \n", temps1);                              // !!!!!!!!!!!!!!!Ca marche pas sans ça !!!!!!!!!!!
+    //temps2 = timer.read_ms();
+    //Temps= temps2-temps1;
+    //pc.printf("Temps calcule, %i \r\n",Temps); 
+}    
+
+
+  
+
 int main(int, char**)
 {
-
+    transistor=1;
     ble.start();
-    Ticker t;
-    t.attach(&Accupdate, 5.0f);
+    //Ticker t;
+    //t.attach(&Accupdate, 15.0f);
+    timer.start();
+    BT.attach(&RXevent);
+    user1.fall(&pressed2);
+    //boutton1.fall(&pressed);
+    //boutton2.fall(&pressed);
+    event.fall(&pressed2);
+    //char Buffer[10];
+    
 
     while (1) {
         ble.waitForEvent();
-
+        /*
+        pc.printf("%f\n",flag);
+        if(flag == 1 && flag2==false){
+            pc.printf("Mode duo actif");
+        }else if(flag == 0 && flag2==false){
+            pc.printf("Mode solo actif   ");
+            message = 0;
+            pc.printf("%i ",message);
+            envoi(message);
+            timer.start();
+            flag2=true;
+        }
+        */
+        
+        //if(BT.readable()){
+        //pc.printf("Je recois");
+        //BT.attach(&RXevent);
+       // c=BT.getc();
+        //pc.printf("%i ",c);
+        //BT.scanf("%s",&Buffer);
+        //pc.printf("%i\n",c);
+        
+                    //compteur = c;
+        //}
+        //else {
+        //    pc.printf("bof");
+        //}
     }
 }
+
+//blablabla
\ No newline at end of file