TeamGyro / Mbed 2 deprecated Bluetooth

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Dependencies:   mbed

Files at this revision

API Documentation at this revision

Revision 3:0e5ce872c9fd, committed 2020-02-04

Comitter:
Tredelnic
Date:
Tue Feb 04 13:53:22 2020 +0000
Parent:
2:d8a097fb2022
Commit message:
Ajout de fonction

Changed in this revision

Bluetooth.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- a/Bluetooth.cpp	Mon Feb 03 13:34:35 2020 +0000
+++ b/Bluetooth.cpp	Tue Feb 04 13:53:22 2020 +0000
@@ -2,61 +2,90 @@
 #include <stdio.h>
 
 DigitalOut LED(LED1);
+
 Serial HC06(D1,D0); //TX - RX du microcontroler
 Serial pc(USBTX, USBRX);
 
+PwmOut Mot_G(D12);
+PwmOut Mot_D(D10);
+
+DigitalOut SensMotG(D11);
+DigitalOut SensMotD(D9);
+
+
+
 
 struct Trame {
-    int kp;
-    int kd;
-    int val3;
-    int val4;
-    int val5;
-    int val6;
-    int val7;
+    float kp;
+    float kd;
+    float val3;
+    float val4;
+    float val5;
+    float val6;
+    float val7;
 };
 
+Trame trame;
+
+
+void Init(void)
+{
+
+    Mot_D.period_us(40);
+    Mot_G.period_us(40);
+
+    SensMotD = 1;
+    SensMotG = 1;
+    Mot_G.write(0.5);
+    Mot_D.write(0.5);
+
+}
+
+
+void ReceptionBluetooth(void)
+{
+
+    int i=0;
+    char val[500];
+
+    val[0]= HC06.getc();
+
+    while(val[i]!='\n') {
+        i++;
+        val[i]= HC06.getc();
+    }
+
+    int error = sscanf(val,"%f:%f:%f:%f:%f:%f:%f",
+                       &trame.kp,
+                       &trame.kd,
+                       &trame.val3,
+                       &trame.val4,
+                       &trame.val5,
+                       &trame.val6,
+                       &trame.val7);
+
+}
+
 int main()
 {
 
     HC06.baud(9600);
     pc.baud (115200);
-    Trame trame;
+
     while (1) {
 
-        /*   char info = HC06.getc();
-             if (info=='a') LED = 1;
-             else if (info=='b') LED =0;
-        */
 
-        int i=0;
-        char val[500];
-
-        val[0]= HC06.getc();
-
-        while(val[i]!='\n') {
-            i++;
-            val[i]= HC06.getc();
-            //printf("%c",val[i]);
-        }
-
-        int error = sscanf(val,"%d.%d.%d.%d.%d.%d.%d",
-        &trame.kp,
-        &trame.kd,
-        &trame.val3,
-        &trame.val4,
-        &trame.val5,
-        &trame.val6,
-        &trame.val7);
-
-        pc.printf("\r\nkp %d   kd %d   val3 %d   val4 %d   val5 %d   val6 %d   val7 %d", 
-        trame.kp, 
-        trame.kd,
-        trame.val3,
-        trame.val4,
-        trame.val5,
-        trame.val6,
-        trame.val7);
+        /* pc.printf("\r\nkp %f   kd %f   val3 %f   val4 %f   val5 %f   val6 %f   val7 %f",
+            trame.kp,
+            trame.kd,
+            trame.val3,
+            trame.val4,
+            trame.val5,
+            trame.val6,
+            trame.val7);
+          */
+        ReceptionBluetooth();
+        Init();
 
     }
 }

--- a/mbed.bld	Mon Feb 03 13:34:35 2020 +0000
+++ b/mbed.bld	Tue Feb 04 13:53:22 2020 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/235179ab3f27
\ No newline at end of file