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Dependencies:   mbed

Direction.cpp@0:1b0dce2e60ba, 2014-12-01 (annotated)

Committer:
singularity
Date:
Mon Dec 01 21:24:13 2014 +0000
Revision:
0:1b0dce2e60ba
Dernier commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
singularity 0:1b0dce2e60ba 1 #include "Direction.h"
singularity 0:1b0dce2e60ba 2
singularity 0:1b0dce2e60ba 3 //INSTANCIATION DES INSTANCES GLOBALES
singularity 0:1b0dce2e60ba 4 PwmOut direction(DIR_PIN);
singularity 0:1b0dce2e60ba 5
singularity 0:1b0dce2e60ba 6 void initDirection() {
singularity 0:1b0dce2e60ba 7 direction.period(DIR_PERIOD);
singularity 0:1b0dce2e60ba 8 setDirection(128);
singularity 0:1b0dce2e60ba 9 }
singularity 0:1b0dce2e60ba 10
singularity 0:1b0dce2e60ba 11 /*en float : ~0.025 -> roues braquées a gauche
singularity 0:1b0dce2e60ba 12 ~0.08 -> roues braquées a droite
singularity 0:1b0dce2e60ba 13 en int : 0 -> gauche
singularity 0:1b0dce2e60ba 14 256 -> droite*/
singularity 0:1b0dce2e60ba 15 void setDirection(int dir) {
singularity 0:1b0dce2e60ba 16 direction.write(((((float)dir)/256)*0.055f + 0.025f));
singularity 0:1b0dce2e60ba 17 }
singularity 0:1b0dce2e60ba 18
singularity 0:1b0dce2e60ba 19
singularity 0:1b0dce2e60ba 20 void testDirection() {
singularity 0:1b0dce2e60ba 21 float vMoteur = 0.0;
singularity 0:1b0dce2e60ba 22 for(int i=0;i<256;i++)
singularity 0:1b0dce2e60ba 23 {
singularity 0:1b0dce2e60ba 24 setDirection(i);
singularity 0:1b0dce2e60ba 25 xbee.printf("i = %d ; direction = %f\n",i,direction.read());
singularity 0:1b0dce2e60ba 26 wait(0.1f);
singularity 0:1b0dce2e60ba 27 vMoteur = (i-128.0f) / 128.0f;
singularity 0:1b0dce2e60ba 28 //setMoteurs(vMoteur,vMoteur);
singularity 0:1b0dce2e60ba 29 xbee.printf("vitesse moteurs : %f\n\n",vMoteur);
singularity 0:1b0dce2e60ba 30 }
singularity 0:1b0dce2e60ba 31 }