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test hardware
Dependencies: mbed MPU6050 PulseWidthCounter PulseCounter
Revision 1:b1f5ab5f08a2, committed 2019-09-28
- Comitter:
- ohlimi2
- Date:
- Sat Sep 28 10:06:37 2019 +0000
- Parent:
- 0:0232ed5c62b6
- Commit message:
- test
Changed in this revision
main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Tue Sep 24 11:56:20 2019 +0000 +++ b/main.cpp Sat Sep 28 10:06:37 2019 +0000 @@ -22,6 +22,34 @@ // declaration des IO DigitalOut led(LED1); +DigitalOut enable_esc(PG_0); + +InterruptIn odoInput(PF_8); + +#define ROUE_DISTANCE_TIC_2019 0.06 +#define ROUE_DISTANCE_TIC_2018 0.08 + +float roueDistanceTic = ROUE_DISTANCE_TIC_2019; //A changer en ROUE_DISTANCE_TIC_2018 pour chassis 2018 +float vitesseBiniou = 0.0; //En m/s +float compteurDistance = 0.0; + +Timer odoTick;// temps.start()/stop()/sec: read()/ms: read_ms()/µs: read_us() + +void odoTickHandler() +{ + unsigned odoMicroSec = 0; + //Incremente compteur de distance + compteurDistance++; + //Calcule de la vitesse Biniou avec Odometre en fonction de horodatage du TIC odo precedent + vitesseBiniou = roueDistanceTic / (odoTick.read_ms()*1000); + + odoTick.reset(); + odoTick.start(); + + printf("ODO TICK!\n"); + printf("vitesseBiniou: %f\n", vitesseBiniou); + printf("compteurDistance: %u\n", compteurDistance); +} // declaration d'une interruption sur le front de la pin d'odometre //InterruptRise my_interruptPin(PF_8); @@ -33,7 +61,7 @@ //} // initialisation du MPU6050 -DigitalOut myled(LED1); + Serial pc(USBTX, USBRX,115200); MPU6050 mpu; @@ -94,6 +122,8 @@ pc.printf("MPU6050 test failed \n"); } + // Assign functions to Odometre input + odoInput.fall(&odoTickHandler); while(1) { // recuperer la valeur en float entre 0.0 et 1.0 @@ -126,25 +156,25 @@ // affiche les valeurs sur la com usb printf("\f"); - // printf("meas_adc_PA4_V = %.0f mV\n\r", meas_adc_PA4_V); - // printf("meas_adc_PA5_V = %.0f mV\n\r", meas_adc_PA5_V); - // printf("meas_adc_PA6_V = %.0f mV\n\r", meas_adc_PA6_V); - // printf("meas_adc_PC0_V = %.0f mV\n\r", meas_adc_PC0_V); + printf("meas_adc_PA4_V = %.0f mV\n\r", meas_adc_PA4_V); + printf("meas_adc_PA5_V = %.0f mV\n\r", meas_adc_PA5_V); + printf("meas_adc_PA6_V = %.0f mV\n\r", meas_adc_PA6_V); + printf("meas_adc_PC0_V = %.0f mV\n\r", meas_adc_PC0_V); - // printf("meas_adc_PF3_V = %.0f mV\n\r", meas_adc_PF3_V); - // printf("meas_adc_PF4_V = %.0f mV\n\r", meas_adc_PF4_V); - // printf("meas_adc_PF9_V = %.0f mV\n\r", meas_adc_PF9_V); - // printf("meas_adc_PF10_V = %.0f mV\n\r", meas_adc_PF10_V); + printf("meas_adc_PF3_V = %.0f mV\n\r", meas_adc_PF3_V); + printf("meas_adc_PF4_V = %.0f mV\n\r", meas_adc_PF4_V); + printf("meas_adc_PF9_V = %.0f mV\n\r", meas_adc_PF9_V); + printf("meas_adc_PF10_V = %.0f mV\n\r", meas_adc_PF10_V); //writing current accelerometer and gyro position printf("acc X =%.2f; acc Y =%.2f; acc Z=%.2f;\n\r",ax_g,ay_g,az_g); - printf("Gyr X =%d; Gyr Y =%d; Gyr Z =%d\n",gx,gy,gz); + //pc.printf("acc X =%d; acc Y =%d; acc Z=%d; Gyr X =%d; Gyr Y =%d; Gyr Z =%d\n",ax,ay,az,gx,gy,gz); - led = !led; - wait(1.0); // delais + enable_esc = !enable_esc ; + wait(0.2); // delais } }