Diff: main.cpp

Revision:

0:216ced19d510

diff -r 000000000000 -r 216ced19d510 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Apr 12 17:01:17 2017 +0000
@@ -0,0 +1,127 @@
+#include "mbed.h"
+#include "Servo.h"
+Serial bt(D10,D2); // rx BT,tx BT
+
+Servo outil(D3);
+Servo porte(D13); //D4 twali D13
+Servo pivot(D5);
+PwmOut avd(D7); //in 1
+PwmOut ard(D6); //in 2
+PwmOut avg(D8); //in 3
+PwmOut arg(D9); //in 4
+
+
+
+
+void avancer() 
+{
+    avd=1.0;
+    ard=0;
+    avg=1.0;
+    arg=0;
+}
+void avancerL()
+{
+    avd=0.5;
+    ard=0;
+    avg=0.5;
+    arg=0;
+}    
+void reculer() 
+{
+    avd=0;
+    ard=1.0;
+    avg=0;
+    arg=1.0;
+}   
+void reculerL() 
+{
+    avd=0;
+    ard=0.5;
+    avg=0;
+    arg=0.5;
+} 
+void droite() 
+{
+    avd=0;
+    ard=0;
+    avg=1.0;
+    arg=0;
+} 
+void droitesp() 
+{
+    avd=0;
+    ard=1.0;
+    avg=1.0;
+    arg=0;
+} 
+void gauche() 
+{
+    avd=1.0;
+    ard=0;
+    avg=0;
+    arg=0;
+} 
+void gauchesp() 
+{
+    avd=1.0;
+    ard=0;
+    avg=0;
+    arg=1.0;
+} 
+void stoop() 
+{
+    avd=0;
+    ard=0;
+    avg=0;
+    arg=0;
+    
+} 
+
+int main() {
+    bt.baud(9600);
+    porte.calibrate(0.00095, 90.0); // Calibrate the servo
+    outil.calibrate(0.00095, 90.0); // Calibrate the servo
+    pivot.calibrate(0.00095, 90.0); // Calibrate the servo
+    /*initialisation des servos*/
+    porte.write(0.15);//porte en haut
+    pivot.write(0.8); //outil avant rotation position initial         
+    wait(1); outil.write(0.92); //outil en bas D11   
+                            
+    while(1) 
+    {
+        //For reading and writing data from/to bluetooth HC-06
+        //check if bluetooth is readable and execute commands to toggle LED
+        if (bt.readable()) 
+            {
+            char input_key=  bt.putc(bt.getc());
+            
+            switch (input_key) 
+                {
+                    
+                  
+                case 'A' :  pivot.write(0.8); //outil avant rotation position initial   pivot.write(0.8)      
+                            wait(1); outil.write(0.92); //outil en bas D11   
+                             break; 
+                case 'B' :  outil.write(0.35);// outil en:  haut outil.write(0.54);
+                            wait(1);  pivot.write(0.38);// outil pivoté 90°:  pivot.write(0.38)
+                             break;
+             case '6' :  porte.write(0.15); //porte en haut 
+                                           break;
+                case '5' :  porte.write(0.83);// porte en bas
+                             break;
+                case 'U': avancer();break;
+                case '1': avancerL ();  break;
+                case 'D': reculer ();break;
+                case '3': reculerL(); break;
+                case '8':  droitesp ();break;
+                case '7': gauchesp ();break;
+                case 'R': droite();break;
+                case 'L': gauche() ;break;
+                case 'S': stoop(); break; 
+                default : stoop();break;
+                }
+            }   
+        
+    }
+}