Corentin Courtot / Mbed 2 deprecated Asserve

asser

Dependencies:   mbed X_NUCLEO_IHM02A1

main.cpp@5:bbca34b60427, 2019-05-19 (annotated)

Committer:
Coconara
Date:
Sun May 19 20:09:32 2019 +0000
Revision:
5:bbca34b60427
Parent:
4:deef042e9c02 
asser

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Coconara 0:6ca63d45f0ee 1 #include "mbed.h"
Coconara 0:6ca63d45f0ee 2
Coconara 0:6ca63d45f0ee 3 #include "hardware.h"
Coconara 0:6ca63d45f0ee 4 #include "odometrie.h"
Coconara 0:6ca63d45f0ee 5 #include "reglages.h"
GuillaumeCH 2:5764f89a27f6 6 #include "commande_moteurs.h"
GuillaumeCH 3:1dba6eca01ad 7 #include "deplacement.h"
Coconara 0:6ca63d45f0ee 8
Coconara 5:bbca34b60427 9 #define TAILLEWRITE 22
Coconara 5:bbca34b60427 10 #define TAILLEREAD 20
Coconara 5:bbca34b60427 11 Serial serial(PC_10,PC_11,115200);
Coconara 5:bbca34b60427 12 Serial pc(SERIAL_TX, SERIAL_RX, 115200);
Coconara 5:bbca34b60427 13 event_callback_t receptionCallback;
Coconara 5:bbca34b60427 14 bool consigne = false;
Coconara 5:bbca34b60427 15
Coconara 5:bbca34b60427 16 char bufferWrite[TAILLEWRITE] = "3.1415/15000/50000";
Coconara 5:bbca34b60427 17 char bufferRead[TAILLEREAD];
Coconara 5:bbca34b60427 18
Coconara 5:bbca34b60427 19 void recupererConsigne(int events);
Coconara 5:bbca34b60427 20
Coconara 5:bbca34b60427 21 void envoyerPosition()
Coconara 5:bbca34b60427 22 {
Coconara 5:bbca34b60427 23 serial.printf("%s", bufferWrite);
Coconara 5:bbca34b60427 24 }
Coconara 5:bbca34b60427 25
Coconara 0:6ca63d45f0ee 26 int main()
Coconara 0:6ca63d45f0ee 27 {
GuillaumeCH 4:deef042e9c02 28 //ini
Coconara 0:6ca63d45f0ee 29 init_odometrie();
Coconara 0:6ca63d45f0ee 30 init_hardware();
GuillaumeCH 2:5764f89a27f6 31 srand(time(NULL));
GuillaumeCH 2:5764f89a27f6 32 motors_on();
GuillaumeCH 4:deef042e9c02 33 AnalogIn Ain(A0);
GuillaumeCH 4:deef042e9c02 34 if(Ain.read()<0.5){
GuillaumeCH 4:deef042e9c02 35 return 0;
GuillaumeCH 4:deef042e9c02 36 }
GuillaumeCH 3:1dba6eca01ad 37 /*DigitalIn depart(USER_BUTTON);
GuillaumeCH 2:5764f89a27f6 38 //Pause pour sauver le robot et l'ordi
GuillaumeCH 3:1dba6eca01ad 39 while(depart);*/
GuillaumeCH 3:1dba6eca01ad 40 deplacement robot;
GuillaumeCH 3:1dba6eca01ad 41 robot.bouton();
GuillaumeCH 3:1dba6eca01ad 42 Ticker asser;
GuillaumeCH 3:1dba6eca01ad 43 Timer t;
GuillaumeCH 3:1dba6eca01ad 44 t.start();
GuillaumeCH 4:deef042e9c02 45 //asser.attach(callback(&robot,&deplacement::asservissement),0.01);
GuillaumeCH 4:deef042e9c02 46 //robot.ligne_droite_v2(210000);
GuillaumeCH 4:deef042e9c02 47
Coconara 5:bbca34b60427 48 Ticker t;
Coconara 5:bbca34b60427 49 t.attach(&envoyerPosition, 0.1f);
Coconara 5:bbca34b60427 50
Coconara 5:bbca34b60427 51 receptionCallback.attach(recupererConsigne);
Coconara 5:bbca34b60427 52 serial.read((uint8_t*)bufferRead, TAILLEREAD, receptionCallback, SERIAL_EVENT_RX_COMPLETE);
GuillaumeCH 3:1dba6eca01ad 53
Coconara 5:bbca34b60427 54 float vitesseD;
Coconara 5:bbca34b60427 55 float vitesseG;
Coconara 5:bbca34b60427 56
Coconara 5:bbca34b60427 57 while(1)
Coconara 5:bbca34b60427 58 {
Coconara 5:bbca34b60427 59 pc.printf("Consigne lu : %s\n\r", bufferRead);
Coconara 5:bbca34b60427 60 conversion(&vitesseD, &vitesseG);
Coconara 5:bbca34b60427 61 commande_vitesse(),
Coconara 5:bbca34b60427 62 }
GuillaumeCH 4:deef042e9c02 63
GuillaumeCH 4:deef042e9c02 64 //printf("x : %lf,y : %lf,angle : %lf\n",get_x_actuel(),get_y_actuel(),get_angle());*/
Coconara 0:6ca63d45f0ee 65 return 0;
Coconara 0:6ca63d45f0ee 66 }
Coconara 5:bbca34b60427 67
Coconara 5:bbca34b60427 68
Coconara 5:bbca34b60427 69
Coconara 5:bbca34b60427 70 void recupererConsigne(int events)
Coconara 5:bbca34b60427 71 {
Coconara 5:bbca34b60427 72 consigne = true;
Coconara 5:bbca34b60427 73 serial.read((uint8_t*)bufferRead, TAILLEREAD, receptionCallback, SERIAL_EVENT_RX_COMPLETE);
Coconara 5:bbca34b60427 74
Coconara 5:bbca34b60427 75 }
Coconara 5:bbca34b60427 76
Coconara 5:bbca34b60427 77 void conversion(float *vd, float *vg)
Coconara 5:bbca34b60427 78 {
Coconara 5:bbca34b60427 79 const char seps[2] = "/";
Coconara 5:bbca34b60427 80 int i = 1;
Coconara 5:bbca34b60427 81 const char sepv[2] = ",";
Coconara 5:bbca34b60427 82 float aux1 = 0;
Coconara 5:bbca34b60427 83 float aux2 = 0;
Coconara 5:bbca34b60427 84 int j=0;
Coconara 5:bbca34b60427 85
Coconara 5:bbca34b60427 86 float aux = bufferRead[0];
Coconara 5:bbca34b60427 87 while(bufferRead[i] != sepv[0])
Coconara 5:bbca34b60427 88 {
Coconara 5:bbca34b60427 89 aux *= 10;
Coconara 5:bbca34b60427 90 aux = bufferRead[i] - 48;
Coconara 5:bbca34b60427 91 i++;
Coconara 5:bbca34b60427 92 }
Coconara 5:bbca34b60427 93 j=i;
Coconara 5:bbca34b60427 94 i++;
Coconara 5:bbca34b60427 95 while(bufferRead[i] != seps[0])
Coconara 5:bbca34b60427 96 {
Coconara 5:bbca34b60427 97 aux1 = bufferRead[i] - 48;
Coconara 5:bbca34b60427 98 aux1 = aux1/(pow(10,(i-j)));
Coconara 5:bbca34b60427 99 aux2 = aux1+aux2;
Coconara 5:bbca34b60427 100 i++;
Coconara 5:bbca34b60427 101 }
Coconara 5:bbca34b60427 102 *vd = aux + aux2;
Coconara 5:bbca34b60427 103
Coconara 5:bbca34b60427 104 printf("vd : %lf",&vd);
Coconara 5:bbca34b60427 105
Coconara 5:bbca34b60427 106 i++;
Coconara 5:bbca34b60427 107 float aux = bufferRead[i];
Coconara 5:bbca34b60427 108 i++;
Coconara 5:bbca34b60427 109 aux1, aux2 = 0, 0;
Coconara 5:bbca34b60427 110 while(bufferRead[i] != sepv[0])
Coconara 5:bbca34b60427 111 {
Coconara 5:bbca34b60427 112 aux *= 10;
Coconara 5:bbca34b60427 113 aux = bufferRead[i] - 48;
Coconara 5:bbca34b60427 114 i++;
Coconara 5:bbca34b60427 115 }
Coconara 5:bbca34b60427 116 j=i;
Coconara 5:bbca34b60427 117 i++;
Coconara 5:bbca34b60427 118 while(bufferRead[i] != seps[0])
Coconara 5:bbca34b60427 119 {
Coconara 5:bbca34b60427 120 aux1 = bufferRead[i] - 48;
Coconara 5:bbca34b60427 121 aux1 = aux1/(pow(10,(i-j)));
Coconara 5:bbca34b60427 122 aux2 = aux1+aux2;
Coconara 5:bbca34b60427 123 i++;
Coconara 5:bbca34b60427 124 }
Coconara 5:bbca34b60427 125 *vg = aux + aux2;
Coconara 5:bbca34b60427 126
Coconara 5:bbca34b60427 127 printf("vg : %lf",&vg);
Coconara 5:bbca34b60427 128 }