Theo/Ludo/Joe / ER2_Labyrinthe_V3

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Dependencies:   mbed

ER2_Robot/suivi.cpp@2:73e8dca28f51, 2019-06-17 (annotated)

Committer:
Couscousiste
Date:
Mon Jun 17 11:12:06 2019 +0000
Revision:
2:73e8dca28f51
Parent:
1:96ef3513d0d5
Child:
3:b85df47a059a
Labyrinthe

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joehatier 0:1a801a2a7b4b 1 #include "mbed.h"
joehatier 0:1a801a2a7b4b 2 #include "SRF05.h"
joehatier 0:1a801a2a7b4b 3 #include "fonction.h"
joehatier 0:1a801a2a7b4b 4 #define ARRET 0
joehatier 0:1a801a2a7b4b 5 #define ROULE 1
Couscousiste 2:73e8dca28f51 6
joehatier 0:1a801a2a7b4b 7
Couscousiste 2:73e8dca28f51 8 SRF05 SRF(p13,p14);
Couscousiste 2:73e8dca28f51 9 DigitalOut SensG(p12);//Sens Gauche
Couscousiste 2:73e8dca28f51 10 DigitalOut SensD(p11);//Sens Droite
Couscousiste 2:73e8dca28f51 11 PwmOut PWMG(p23); //Sortie moteur gauche
Couscousiste 2:73e8dca28f51 12 PwmOut PWMD(p22); //Sortie moteur droit
Couscousiste 2:73e8dca28f51 13 DigitalIn BpD(p29);
Couscousiste 2:73e8dca28f51 14 DigitalIn BpG(p30);
Couscousiste 2:73e8dca28f51 15 AnalogIn CPTG (p20);
Couscousiste 2:73e8dca28f51 16 AnalogIn CPTD (p19);
Couscousiste 2:73e8dca28f51 17 AnalogIn BAT (p15);
Couscousiste 2:73e8dca28f51 18
Couscousiste 2:73e8dca28f51 19 float srfa,srfc;
joehatier 0:1a801a2a7b4b 20
joehatier 0:1a801a2a7b4b 21 int main()
joehatier 0:1a801a2a7b4b 22 {
Couscousiste 2:73e8dca28f51 23
joehatier 0:1a801a2a7b4b 24 PWMG.period_us(100);
joehatier 0:1a801a2a7b4b 25 PWMD.period_us(100);
Couscousiste 2:73e8dca28f51 26 int /*J,S,*/etat=0/*,bpg,bpd*/;
Couscousiste 2:73e8dca28f51 27 BpD.mode(PullUp);
Couscousiste 2:73e8dca28f51 28 BpG.mode(PullUp);
Couscousiste 2:73e8dca28f51 29
joehatier 0:1a801a2a7b4b 30 while(1) {
Couscousiste 2:73e8dca28f51 31 srfa=SRFA.read();
Couscousiste 2:73e8dca28f51 32 srfc=SRFC.read();
joehatier 0:1a801a2a7b4b 33
joehatier 0:1a801a2a7b4b 34 switch(etat) {
Couscousiste 2:73e8dca28f51 35 case 0 :
Couscousiste 2:73e8dca28f51 36 if(srfc<=5) etat=2;
Couscousiste 2:73e8dca28f51 37 if(srfc>=10) etat=1;
Couscousiste 2:73e8dca28f51 38 if(srfc<=5 && srfa<=5) etat=3;
joehatier 0:1a801a2a7b4b 39 break;
Couscousiste 2:73e8dca28f51 40 case 1 : //ZIG
Couscousiste 2:73e8dca28f51 41 if(srfc<=5) etat=2;
Couscousiste 2:73e8dca28f51 42 if(srfc<=5 && srfa<=5) etat=3;
Couscousiste 2:73e8dca28f51 43 break;
Couscousiste 2:73e8dca28f51 44 case 2 : //ZAG
Couscousiste 2:73e8dca28f51 45 if(srfc>=10) etat=1;
Couscousiste 2:73e8dca28f51 46 if(srfc<=5 && srfa<=5) etat=3;
Couscousiste 2:73e8dca28f51 47 break;
Couscousiste 2:73e8dca28f51 48 case 3 ://MUR
Couscousiste 2:73e8dca28f51 49 if(srfa>=10) etat=0;
Couscousiste 2:73e8dca28f51 50 break;
joehatier 0:1a801a2a7b4b 51 }
joehatier 0:1a801a2a7b4b 52
joehatier 0:1a801a2a7b4b 53 switch(etat) {
Couscousiste 2:73e8dca28f51 54
Couscousiste 2:73e8dca28f51 55 case 0 :
Couscousiste 2:73e8dca28f51 56 roule_motgauche(0,60);
Couscousiste 2:73e8dca28f51 57 roule_motdroit(0,60); // Roule
Couscousiste 2:73e8dca28f51 58 break;
Couscousiste 2:73e8dca28f51 59 case 1 :
Couscousiste 2:73e8dca28f51 60 roule_motgauche(0,65);
Couscousiste 2:73e8dca28f51 61 roule_motdroit(0,60);
joehatier 0:1a801a2a7b4b 62 break;
Couscousiste 2:73e8dca28f51 63 case 2 :
Couscousiste 2:73e8dca28f51 64 roule_motgauche(0,60);
Couscousiste 2:73e8dca28f51 65 roule_motdroit(0,65);
Couscousiste 2:73e8dca28f51 66 break;
Couscousiste 2:73e8dca28f51 67 case 3 :
Couscousiste 2:73e8dca28f51 68 roule_motgauche(0,50);
Couscousiste 2:73e8dca28f51 69 roule_motdroit(0,70);
Couscousiste 2:73e8dca28f51 70 break;
joehatier 0:1a801a2a7b4b 71 }
joehatier 0:1a801a2a7b4b 72
Couscousiste 2:73e8dca28f51 73 }
joehatier 0:1a801a2a7b4b 74
joehatier 0:1a801a2a7b4b 75 }
joehatier 0:1a801a2a7b4b 76
joehatier 0:1a801a2a7b4b 77