Asservissement
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
Fork of TestBoard by
main.cpp@10:4e1c8b3edee7, 2017-06-10 (annotated)
- Committer:
- DOREL
- Date:
- Sat Jun 10 12:23:42 2017 +0000
- Revision:
- 10:4e1c8b3edee7
- Parent:
- 9:9e8b83cf5083
Motors work;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
haarkon | 0:f00e68bef80c | 1 | /** Main Test Board |
haarkon | 0:f00e68bef80c | 2 | * |
haarkon | 0:f00e68bef80c | 3 | * \brief Programme de tests pour le robot NCR 2017 |
haarkon | 0:f00e68bef80c | 4 | * \author H. Angelis |
haarkon | 0:f00e68bef80c | 5 | * \version alpha_1 |
haarkon | 0:f00e68bef80c | 6 | * \date 15/05/17 |
haarkon | 0:f00e68bef80c | 7 | * |
haarkon | 0:f00e68bef80c | 8 | */ |
haarkon | 0:f00e68bef80c | 9 | |
haarkon | 0:f00e68bef80c | 10 | #include "mbed.h" |
haarkon | 0:f00e68bef80c | 11 | #include "PwmIn.h" |
haarkon | 0:f00e68bef80c | 12 | #include "Nucleo_Encoder_16_bits.h" |
haarkon | 0:f00e68bef80c | 13 | |
haarkon | 6:88b4805d33e1 | 14 | #define BOUSSOLE_adress 0xC0 |
haarkon | 6:88b4805d33e1 | 15 | #define PIXY_adress 0x54 |
haarkon | 6:88b4805d33e1 | 16 | |
haarkon | 6:88b4805d33e1 | 17 | #define CC_BLOCSIZE 14 |
haarkon | 6:88b4805d33e1 | 18 | #define N_BLOCSIZE 12 |
haarkon | 6:88b4805d33e1 | 19 | |
haarkon | 6:88b4805d33e1 | 20 | #define N_BLOCCODE 0xAA55 |
haarkon | 6:88b4805d33e1 | 21 | #define CC_BLOCCODE 0xAA56 |
haarkon | 6:88b4805d33e1 | 22 | |
haarkon | 2:1d440e938c44 | 23 | |
haarkon | 6:88b4805d33e1 | 24 | // Comme la nucleo est Little Endian et que l'AS5047D est Big Endian, les codes sont inversés |
haarkon | 6:88b4805d33e1 | 25 | // Registre Valeur (BE) Valeur (LE) |
haarkon | 6:88b4805d33e1 | 26 | // NOP 0xC000 0x0003 |
haarkon | 6:88b4805d33e1 | 27 | // ANGLE 0xFFFF 0xFFFF |
haarkon | 6:88b4805d33e1 | 28 | // ERROR 0x4001 0x8002 |
haarkon | 6:88b4805d33e1 | 29 | // SETTING1 (R) 0xC018 0x1803 |
haarkon | 6:88b4805d33e1 | 30 | // SETTING2 (R) 0x4019 0x8902 |
haarkon | 6:88b4805d33e1 | 31 | // SETTING1 (W) 0x0018 0x1800 |
haarkon | 6:88b4805d33e1 | 32 | // SETTING2 (W) 0x8019 0x9801 |
haarkon | 2:1d440e938c44 | 33 | |
haarkon | 6:88b4805d33e1 | 34 | #define SPI_READ_NOP 0x0003 |
haarkon | 6:88b4805d33e1 | 35 | #define SPI_READ_ANGLE 0xFFFF |
haarkon | 6:88b4805d33e1 | 36 | #define SPI_READ_ERROR 0x8002 |
haarkon | 6:88b4805d33e1 | 37 | #define SPI_READ_SETTINGS1 0x1803 |
haarkon | 6:88b4805d33e1 | 38 | #define SPI_READ_SETTINGS2 0x8902 |
haarkon | 6:88b4805d33e1 | 39 | #define SPI_WRTIE_SETTINGS1 0x1800 |
haarkon | 6:88b4805d33e1 | 40 | #define SPI_WRITE_SETTINGS2 0x9801 |
haarkon | 0:f00e68bef80c | 41 | |
haarkon | 0:f00e68bef80c | 42 | typedef unsigned char Byte; |
haarkon | 0:f00e68bef80c | 43 | typedef unsigned short Word; |
haarkon | 0:f00e68bef80c | 44 | typedef unsigned long lWord; |
haarkon | 0:f00e68bef80c | 45 | |
haarkon | 0:f00e68bef80c | 46 | typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR; |
haarkon | 0:f00e68bef80c | 47 | |
haarkon | 2:1d440e938c44 | 48 | typedef enum {none, begin, normal, colorCode, doubleZero} T_pixyState; |
haarkon | 2:1d440e938c44 | 49 | |
haarkon | 0:f00e68bef80c | 50 | typedef union { |
haarkon | 2:1d440e938c44 | 51 | lWord mot; |
haarkon | 0:f00e68bef80c | 52 | Byte tab[4]; |
haarkon | 2:1d440e938c44 | 53 | } T_tmpBuffer; |
haarkon | 2:1d440e938c44 | 54 | |
haarkon | 2:1d440e938c44 | 55 | typedef union { |
haarkon | 2:1d440e938c44 | 56 | Word mot; |
haarkon | 2:1d440e938c44 | 57 | Byte tab[2]; |
haarkon | 2:1d440e938c44 | 58 | } T_structBuffer; |
haarkon | 0:f00e68bef80c | 59 | |
haarkon | 0:f00e68bef80c | 60 | typedef struct { |
haarkon | 0:f00e68bef80c | 61 | Word checksum; |
haarkon | 0:f00e68bef80c | 62 | Word signature; |
haarkon | 0:f00e68bef80c | 63 | Word x; |
haarkon | 0:f00e68bef80c | 64 | Word y; |
haarkon | 0:f00e68bef80c | 65 | Word width; |
haarkon | 0:f00e68bef80c | 66 | Word height; |
haarkon | 2:1d440e938c44 | 67 | Word angle; |
haarkon | 0:f00e68bef80c | 68 | } T_pixyCCBloc; |
haarkon | 0:f00e68bef80c | 69 | |
haarkon | 2:1d440e938c44 | 70 | typedef struct { |
haarkon | 2:1d440e938c44 | 71 | Word checksum; |
haarkon | 2:1d440e938c44 | 72 | Word signature; |
haarkon | 2:1d440e938c44 | 73 | Word x; |
haarkon | 2:1d440e938c44 | 74 | Word y; |
haarkon | 2:1d440e938c44 | 75 | Word width; |
haarkon | 2:1d440e938c44 | 76 | Word height; |
haarkon | 3:3dfe26a10796 | 77 | } T_pixyNMBloc; |
haarkon | 0:f00e68bef80c | 78 | |
haarkon | 0:f00e68bef80c | 79 | typedef union { |
haarkon | 0:f00e68bef80c | 80 | Byte tab[14]; |
haarkon | 0:f00e68bef80c | 81 | T_pixyCCBloc CCbloc; |
haarkon | 2:1d440e938c44 | 82 | } T_pixyCCData; |
haarkon | 2:1d440e938c44 | 83 | |
haarkon | 2:1d440e938c44 | 84 | typedef union { |
haarkon | 2:1d440e938c44 | 85 | Byte tab[12]; |
haarkon | 3:3dfe26a10796 | 86 | T_pixyNMBloc NMbloc; |
haarkon | 3:3dfe26a10796 | 87 | } T_pixyNMData; |
haarkon | 0:f00e68bef80c | 88 | |
haarkon | 0:f00e68bef80c | 89 | |
haarkon | 2:1d440e938c44 | 90 | |
haarkon | 0:f00e68bef80c | 91 | /** Liste des objets |
haarkon | 0:f00e68bef80c | 92 | * |
haarkon | 0:f00e68bef80c | 93 | * Serial #4 Pixy |
haarkon | 0:f00e68bef80c | 94 | * Serial #2 Pc |
haarkon | 0:f00e68bef80c | 95 | * |
haarkon | 0:f00e68bef80c | 96 | * AnalogIn C1, C2, C3, LD1, LD2, SD1, SD2, Vbat |
haarkon | 0:f00e68bef80c | 97 | * |
haarkon | 0:f00e68bef80c | 98 | * DigitalOut Led1, Led2, Trig1, Trig2, Trig3, En, SensG, SensD |
haarkon | 0:f00e68bef80c | 99 | * |
haarkon | 0:f00e68bef80c | 100 | * InterruptIn IndexG, IndexD, Echo1, Echo2, Echo3, BP |
haarkon | 0:f00e68bef80c | 101 | * |
haarkon | 0:f00e68bef80c | 102 | * PwmOut Pwm_MG, Pwm_MD, Servo |
haarkon | 0:f00e68bef80c | 103 | * |
haarkon | 0:f00e68bef80c | 104 | * PwmIn PWMG, PWMD, PWMB |
haarkon | 0:f00e68bef80c | 105 | * |
haarkon | 0:f00e68bef80c | 106 | * I2C Bus_I2C |
haarkon | 0:f00e68bef80c | 107 | * |
haarkon | 0:f00e68bef80c | 108 | * SPI MotG, MotD |
haarkon | 0:f00e68bef80c | 109 | * |
haarkon | 0:f00e68bef80c | 110 | * Nucleo_Encoder_16_bits Gauche, Droite |
haarkon | 0:f00e68bef80c | 111 | * |
haarkon | 0:f00e68bef80c | 112 | * Ticker timer |
haarkon | 0:f00e68bef80c | 113 | */ |
haarkon | 0:f00e68bef80c | 114 | |
haarkon | 0:f00e68bef80c | 115 | /** Liste des PINs |
haarkon | 0:f00e68bef80c | 116 | * |
haarkon | 0:f00e68bef80c | 117 | * PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée |
haarkon | 0:f00e68bef80c | 118 | * PA_0 -> Pixy RX (Serial) |
haarkon | 0:f00e68bef80c | 119 | * PA_1 -> Pixy TX (Serial) |
haarkon | 0:f00e68bef80c | 120 | * PA_2 -> PC TX (Serial) |
haarkon | 0:f00e68bef80c | 121 | * PA_3 -> PX RX (Serial) |
haarkon | 0:f00e68bef80c | 122 | * PA_4 -> GP2 SD #2 (Analog In) |
haarkon | 0:f00e68bef80c | 123 | * PA_5 -> LED1 (Digital Out) |
haarkon | 0:f00e68bef80c | 124 | * PA_6 -> CNY3 (Analog In) |
haarkon | 0:f00e68bef80c | 125 | * PA_7 -> CNY2 (Analog In) |
haarkon | 0:f00e68bef80c | 126 | * PA_8 -> Servomoteur (PWM Out) |
haarkon | 0:f00e68bef80c | 127 | * PA_9 -> US Trigger #3 (Digital Out) |
haarkon | 1:d95546f84105 | 128 | * PA_10 -> US Echo #1 (Pwm In) |
haarkon | 0:f00e68bef80c | 129 | * PA_11 -> US Echo #2 (Pwm In) |
haarkon | 1:d95546f84105 | 130 | * PA_12 -> SS (SPI Slave Select) (Digital Out) |
haarkon | 0:f00e68bef80c | 131 | * PA_13 |
haarkon | 0:f00e68bef80c | 132 | * PA_14 |
haarkon | 0:f00e68bef80c | 133 | * PA_15 -> Boussole (Pwm In) |
haarkon | 0:f00e68bef80c | 134 | * |
haarkon | 0:f00e68bef80c | 135 | * PB_0 -> GP2 SD #1 (Analog In) |
haarkon | 0:f00e68bef80c | 136 | * PB_1 -> Position D (Pwm In) |
haarkon | 0:f00e68bef80c | 137 | * PB_2 -> Position G (Pwm In) |
haarkon | 0:f00e68bef80c | 138 | * PB_3 -> PWM Mot D (PWM Out) |
haarkon | 0:f00e68bef80c | 139 | * PB_4 -> Enocdeur Droit A (QE) |
haarkon | 0:f00e68bef80c | 140 | * PB_5 -> Enocdeur Droit B (QE) |
haarkon | 0:f00e68bef80c | 141 | * PB_6 -> Enocdeur Gauche A (QE) |
haarkon | 0:f00e68bef80c | 142 | * PB_7 -> Enocdeur Gauche B (QE) |
haarkon | 0:f00e68bef80c | 143 | * PB_8 -> SCL (I2C) |
haarkon | 0:f00e68bef80c | 144 | * PB_9 -> SDA (I2C) |
haarkon | 0:f00e68bef80c | 145 | * PB_10 -> PWM Mot G (PWM Out) |
haarkon | 0:f00e68bef80c | 146 | * PB_11 |
haarkon | 0:f00e68bef80c | 147 | * PB_12 -> US Echo #3 (Pwm In) |
haarkon | 0:f00e68bef80c | 148 | * PB_13 -> SCK Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 149 | * PB_14 -> MISO Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 150 | * PB_15 -> MOSI Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 151 | * |
haarkon | 0:f00e68bef80c | 152 | * PC_0 -> GP2 LD #1 (Analog In) |
haarkon | 0:f00e68bef80c | 153 | * PC_1 -> GP2 LD #2 (Analog In) |
haarkon | 0:f00e68bef80c | 154 | * PC_2 -> US Trigger #2 (Digital Out) |
haarkon | 0:f00e68bef80c | 155 | * PC_3 -> US Trigger #1 (Digital Out) |
haarkon | 0:f00e68bef80c | 156 | * PC_4 -> CNY1 (Analog In) |
haarkon | 0:f00e68bef80c | 157 | * PC_5 -> Vbat (Analog In) |
haarkon | 0:f00e68bef80c | 158 | * PC_6 -> Dir Mot Droit (Digital Out) |
haarkon | 0:f00e68bef80c | 159 | * PC_7 -> I (Encodeur Gauche) (IRQ In) |
haarkon | 0:f00e68bef80c | 160 | * PC_8 -> Dir Mot Gauche (Digital Out) |
haarkon | 0:f00e68bef80c | 161 | * PC_9 -> Enable Moteurs (Digital Out) |
haarkon | 0:f00e68bef80c | 162 | * PC_10 -> SCK Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 163 | * PC_11 -> MISO Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 164 | * PC_12 -> MOSI Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 165 | * PC_13 -> User BP (IRQ In) |
haarkon | 0:f00e68bef80c | 166 | * PC_14 |
haarkon | 0:f00e68bef80c | 167 | * PC_15 |
haarkon | 0:f00e68bef80c | 168 | * |
haarkon | 0:f00e68bef80c | 169 | * PD_1 |
haarkon | 0:f00e68bef80c | 170 | * PD_2 -> Led2 (Digital Out) |
haarkon | 0:f00e68bef80c | 171 | */ |
haarkon | 0:f00e68bef80c | 172 | |
haarkon | 1:d95546f84105 | 173 | Serial Pixy (PA_0, PA_1, 230400); |
haarkon | 5:4955cb4b3646 | 174 | Serial Pc (PA_2, PA_3, 921600); |
haarkon | 0:f00e68bef80c | 175 | |
haarkon | 0:f00e68bef80c | 176 | AnalogIn CNY1 (PC_4); |
haarkon | 0:f00e68bef80c | 177 | AnalogIn CNY2 (PA_7); |
haarkon | 0:f00e68bef80c | 178 | AnalogIn CNY3 (PA_6); |
haarkon | 0:f00e68bef80c | 179 | AnalogIn LD1 (PC_0); |
haarkon | 0:f00e68bef80c | 180 | AnalogIn LD2 (PC_1); |
haarkon | 0:f00e68bef80c | 181 | AnalogIn SD1 (PB_0); |
haarkon | 0:f00e68bef80c | 182 | AnalogIn SD2 (PA_4); |
haarkon | 0:f00e68bef80c | 183 | AnalogIn Vbat (PC_5); |
haarkon | 0:f00e68bef80c | 184 | |
haarkon | 0:f00e68bef80c | 185 | DigitalOut Led1 (PA_5); |
haarkon | 0:f00e68bef80c | 186 | DigitalOut Led2 (PD_2); |
haarkon | 0:f00e68bef80c | 187 | DigitalOut Trig1 (PC_3); |
haarkon | 0:f00e68bef80c | 188 | DigitalOut Trig2 (PC_2); |
haarkon | 0:f00e68bef80c | 189 | DigitalOut Trig3 (PA_9); |
haarkon | 0:f00e68bef80c | 190 | DigitalOut En (PC_9); |
haarkon | 0:f00e68bef80c | 191 | DigitalOut SensG (PC_8); |
haarkon | 0:f00e68bef80c | 192 | DigitalOut SensD (PC_6); |
haarkon | 1:d95546f84105 | 193 | DigitalOut SS (PA_12); |
haarkon | 0:f00e68bef80c | 194 | |
haarkon | 1:d95546f84105 | 195 | InterruptIn Echo1 (PA_10); |
haarkon | 0:f00e68bef80c | 196 | InterruptIn Echo2 (PA_11); |
haarkon | 0:f00e68bef80c | 197 | InterruptIn Echo3 (PB_12); |
haarkon | 0:f00e68bef80c | 198 | InterruptIn BP (PC_13); |
haarkon | 0:f00e68bef80c | 199 | InterruptIn IG (PC_7); |
haarkon | 6:88b4805d33e1 | 200 | InterruptIn PWMG (PB_2); |
haarkon | 6:88b4805d33e1 | 201 | InterruptIn PWMD (PB_1); |
haarkon | 1:d95546f84105 | 202 | |
haarkon | 1:d95546f84105 | 203 | PwmIn PWMB (PA_15); |
haarkon | 0:f00e68bef80c | 204 | |
haarkon | 0:f00e68bef80c | 205 | PwmOut Pwm_MG (PB_10); |
haarkon | 0:f00e68bef80c | 206 | PwmOut Pwm_MD (PB_3); |
haarkon | 0:f00e68bef80c | 207 | PwmOut Servo (PA_8); |
haarkon | 0:f00e68bef80c | 208 | |
haarkon | 0:f00e68bef80c | 209 | I2C Bus_I2C (PB_9, PB_8); |
haarkon | 0:f00e68bef80c | 210 | |
haarkon | 6:88b4805d33e1 | 211 | SPI SPIG (PC_12, PC_11, PC_10); |
haarkon | 6:88b4805d33e1 | 212 | SPI SPID (PB_15, PB_14, PB_13); |
haarkon | 0:f00e68bef80c | 213 | |
haarkon | 0:f00e68bef80c | 214 | Nucleo_Encoder_16_bits Gauche (TIM4); // A = PB_6, B = PB_7 |
haarkon | 0:f00e68bef80c | 215 | Nucleo_Encoder_16_bits Droite (TIM3); // A = PB_4, B = PB_5 |
haarkon | 0:f00e68bef80c | 216 | |
haarkon | 2:1d440e938c44 | 217 | Ticker tick; |
haarkon | 2:1d440e938c44 | 218 | Timer times; |
haarkon | 0:f00e68bef80c | 219 | |
haarkon | 0:f00e68bef80c | 220 | /** Liste des variables globales |
haarkon | 0:f00e68bef80c | 221 | * |
haarkon | 0:f00e68bef80c | 222 | * Tick -> (long) Compte le nombre de MS écoulé et déclenche l'exécution de la boucle en fonction du temps écoulé. |
haarkon | 0:f00e68bef80c | 223 | * FlagIG -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue gauche |
haarkon | 0:f00e68bef80c | 224 | * FlagID -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue droite |
haarkon | 0:f00e68bef80c | 225 | * EchoXStart -> (long) Donne le temps en µs de début de l'impulsion d'écho de l'US n°X |
haarkon | 0:f00e68bef80c | 226 | * DistUSX -> (float) Donne la distance en mm mesurée par l'US n°X |
haarkon | 0:f00e68bef80c | 227 | */ |
haarkon | 0:f00e68bef80c | 228 | |
haarkon | 0:f00e68bef80c | 229 | // Structure de temps |
haarkon | 6:88b4805d33e1 | 230 | lWord Tick = 0, Gperiod, Dperiod; |
haarkon | 0:f00e68bef80c | 231 | |
haarkon | 0:f00e68bef80c | 232 | // Sémaphore d'interruption |
haarkon | 3:3dfe26a10796 | 233 | int FlagUS1 = 0, FlagUS2 = 0, FlagUS3 = 0, FlagPixy = 0, FlagPixyOverflow = 0; |
haarkon | 6:88b4805d33e1 | 234 | int FlagTick = 0, FlagTickLed = 0, BPPressed = 0, nbTurnG = 0, nbTurnD = 0; |
haarkon | 3:3dfe26a10796 | 235 | int Pixy_check = -1; |
haarkon | 0:f00e68bef80c | 236 | |
haarkon | 0:f00e68bef80c | 237 | // Dialogue avec la Pixy |
haarkon | 3:3dfe26a10796 | 238 | T_pixyCCData Pixy_CCFIFO[20]; |
haarkon | 3:3dfe26a10796 | 239 | T_pixyNMData Pixy_NMFIFO[20]; |
haarkon | 3:3dfe26a10796 | 240 | Byte Pixy_CCObjet, Pixy_NMObjet; |
haarkon | 0:f00e68bef80c | 241 | |
haarkon | 0:f00e68bef80c | 242 | // Gestion des capteurs Ultrason |
haarkon | 3:3dfe26a10796 | 243 | long Echo1Start, Echo2Start, Echo3Start; |
haarkon | 3:3dfe26a10796 | 244 | double DistUS1, DistUS2, DistUS3; |
haarkon | 0:f00e68bef80c | 245 | |
haarkon | 0:f00e68bef80c | 246 | /** Liste des interruptions |
haarkon | 0:f00e68bef80c | 247 | * |
haarkon | 0:f00e68bef80c | 248 | */ |
haarkon | 0:f00e68bef80c | 249 | |
haarkon | 0:f00e68bef80c | 250 | void tickTime() |
haarkon | 0:f00e68bef80c | 251 | { |
haarkon | 0:f00e68bef80c | 252 | Tick++; |
haarkon | 0:f00e68bef80c | 253 | FlagTick = 1; |
haarkon | 0:f00e68bef80c | 254 | if ((Tick%100)==0) FlagTickLed = 1; |
haarkon | 0:f00e68bef80c | 255 | } |
haarkon | 0:f00e68bef80c | 256 | |
haarkon | 0:f00e68bef80c | 257 | void BPevent () |
haarkon | 0:f00e68bef80c | 258 | { |
haarkon | 0:f00e68bef80c | 259 | BPPressed = 1; |
haarkon | 0:f00e68bef80c | 260 | } |
haarkon | 0:f00e68bef80c | 261 | |
haarkon | 6:88b4805d33e1 | 262 | void PWM_motGRise (void) |
haarkon | 6:88b4805d33e1 | 263 | { |
haarkon | 6:88b4805d33e1 | 264 | static lWord oldTime; |
haarkon | 6:88b4805d33e1 | 265 | lWord now; |
haarkon | 6:88b4805d33e1 | 266 | now = times.read_us(); |
haarkon | 6:88b4805d33e1 | 267 | Gperiod = now-oldTime; |
haarkon | 6:88b4805d33e1 | 268 | oldTime = now; |
haarkon | 6:88b4805d33e1 | 269 | nbTurnG++; |
haarkon | 6:88b4805d33e1 | 270 | } |
haarkon | 6:88b4805d33e1 | 271 | |
haarkon | 6:88b4805d33e1 | 272 | void PWM_motDRise (void) |
haarkon | 6:88b4805d33e1 | 273 | { |
haarkon | 6:88b4805d33e1 | 274 | static lWord oldTime; |
haarkon | 6:88b4805d33e1 | 275 | lWord now; |
haarkon | 6:88b4805d33e1 | 276 | now = times.read_us(); |
haarkon | 6:88b4805d33e1 | 277 | Dperiod = now-oldTime; |
haarkon | 6:88b4805d33e1 | 278 | oldTime = now; |
haarkon | 6:88b4805d33e1 | 279 | nbTurnD++; |
haarkon | 6:88b4805d33e1 | 280 | } |
haarkon | 6:88b4805d33e1 | 281 | |
haarkon | 0:f00e68bef80c | 282 | void echo1Rise () |
haarkon | 0:f00e68bef80c | 283 | { |
haarkon | 2:1d440e938c44 | 284 | Echo1Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 285 | } |
haarkon | 0:f00e68bef80c | 286 | |
haarkon | 0:f00e68bef80c | 287 | void echo2Rise () |
haarkon | 0:f00e68bef80c | 288 | { |
haarkon | 2:1d440e938c44 | 289 | Echo2Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 290 | } |
haarkon | 0:f00e68bef80c | 291 | |
haarkon | 0:f00e68bef80c | 292 | void echo3Rise () |
haarkon | 0:f00e68bef80c | 293 | { |
haarkon | 2:1d440e938c44 | 294 | Echo3Start = times.read_us(); |
haarkon | 0:f00e68bef80c | 295 | } |
haarkon | 0:f00e68bef80c | 296 | |
haarkon | 0:f00e68bef80c | 297 | void echo1Fall () |
haarkon | 0:f00e68bef80c | 298 | { |
haarkon | 2:1d440e938c44 | 299 | DistUS1 = (double)(times.read_us() - Echo1Start)/5.8; |
haarkon | 0:f00e68bef80c | 300 | FlagUS1 = 1; |
haarkon | 0:f00e68bef80c | 301 | } |
haarkon | 0:f00e68bef80c | 302 | |
haarkon | 0:f00e68bef80c | 303 | void echo2Fall () |
haarkon | 0:f00e68bef80c | 304 | { |
haarkon | 2:1d440e938c44 | 305 | DistUS2 = (double)(times.read_us() - Echo2Start)/5.8; |
haarkon | 0:f00e68bef80c | 306 | FlagUS2 = 1; |
haarkon | 0:f00e68bef80c | 307 | } |
haarkon | 0:f00e68bef80c | 308 | |
haarkon | 0:f00e68bef80c | 309 | void echo3Fall () |
haarkon | 0:f00e68bef80c | 310 | { |
haarkon | 2:1d440e938c44 | 311 | DistUS3 = (double)(times.read_us() - Echo3Start)/5.8; |
haarkon | 0:f00e68bef80c | 312 | FlagUS3 = 1; |
haarkon | 0:f00e68bef80c | 313 | } |
haarkon | 0:f00e68bef80c | 314 | |
haarkon | 0:f00e68bef80c | 315 | void getPixyByte () |
haarkon | 0:f00e68bef80c | 316 | { |
haarkon | 2:1d440e938c44 | 317 | static T_tmpBuffer tmpBuffer; |
haarkon | 2:1d440e938c44 | 318 | static T_structBuffer msgBuffer; |
haarkon | 3:3dfe26a10796 | 319 | static T_pixyState PIXY_state = none; |
haarkon | 2:1d440e938c44 | 320 | static Byte byteCount = 0; |
haarkon | 3:3dfe26a10796 | 321 | static int PIXY_synced = 0, dummy; |
haarkon | 2:1d440e938c44 | 322 | int i, somme; |
haarkon | 3:3dfe26a10796 | 323 | static Byte PIXY_nbCCObjet = 0, PIXY_wCCObjet = 0; |
haarkon | 3:3dfe26a10796 | 324 | static Byte PIXY_nbNMObjet = 0, PIXY_wNMObjet = 0; |
haarkon | 0:f00e68bef80c | 325 | |
haarkon | 2:1d440e938c44 | 326 | Pixy_check = 0; |
haarkon | 0:f00e68bef80c | 327 | |
haarkon | 3:3dfe26a10796 | 328 | if (!PIXY_synced) { // On n'a pas trouvé le START (0x55aa0000) |
haarkon | 2:1d440e938c44 | 329 | tmpBuffer.tab[byteCount] = Pixy.getc(); // On stocke l'octet reçu dans la première case dispo du tableau temporaire |
haarkon | 2:1d440e938c44 | 330 | |
haarkon | 2:1d440e938c44 | 331 | if (byteCount < 3) { // Si on n'a pas encore reçu les 4 premier octets |
haarkon | 2:1d440e938c44 | 332 | byteCount++; // On passe à la case suivante du tableau temporaire |
haarkon | 2:1d440e938c44 | 333 | } else { // Lorsqu'on a 4 octets |
haarkon | 2:1d440e938c44 | 334 | if (tmpBuffer.mot != 0xaa550000) { // Si le code n'est pas le code de START |
haarkon | 2:1d440e938c44 | 335 | for (i=1; i<4; i++) tmpBuffer.tab[i-1] = tmpBuffer.tab[i]; // On décalle les cases du tableau |
haarkon | 2:1d440e938c44 | 336 | byteCount = 3; // Et on attend le caractère suivant |
haarkon | 2:1d440e938c44 | 337 | } else { // Si on a trouvé le code de START |
haarkon | 3:3dfe26a10796 | 338 | PIXY_synced = 1; // On passe en mode synchronisé |
haarkon | 3:3dfe26a10796 | 339 | PIXY_state = begin; |
haarkon | 2:1d440e938c44 | 340 | byteCount = 0; |
haarkon | 0:f00e68bef80c | 341 | } |
haarkon | 0:f00e68bef80c | 342 | } |
haarkon | 2:1d440e938c44 | 343 | } |
haarkon | 2:1d440e938c44 | 344 | |
haarkon | 3:3dfe26a10796 | 345 | if (PIXY_synced) { |
haarkon | 2:1d440e938c44 | 346 | |
haarkon | 3:3dfe26a10796 | 347 | switch (PIXY_state) { |
haarkon | 2:1d440e938c44 | 348 | case begin : // l'aiguillage est là ! |
haarkon | 2:1d440e938c44 | 349 | |
haarkon | 2:1d440e938c44 | 350 | msgBuffer.tab[byteCount%2] = Pixy.getc(); // on stocke les octets reçus |
haarkon | 2:1d440e938c44 | 351 | byteCount++; |
haarkon | 2:1d440e938c44 | 352 | if (byteCount == 2) { // Quand on a 2 octets |
haarkon | 2:1d440e938c44 | 353 | |
haarkon | 2:1d440e938c44 | 354 | if (msgBuffer.mot == 0xaa55) { // Si c'est un bloc normal (code 0xAA55) |
haarkon | 3:3dfe26a10796 | 355 | PIXY_state = normal; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 356 | } |
haarkon | 2:1d440e938c44 | 357 | |
haarkon | 2:1d440e938c44 | 358 | if (msgBuffer.mot == 0xaa56) { // Si c'est un bloc Color Code (code 0xAA56) |
haarkon | 3:3dfe26a10796 | 359 | PIXY_state = colorCode; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 360 | } |
haarkon | 2:1d440e938c44 | 361 | |
haarkon | 2:1d440e938c44 | 362 | if (msgBuffer.mot == 0) { // Si on a un debut de trame (code 0000) |
haarkon | 3:3dfe26a10796 | 363 | PIXY_state = doubleZero; // On part vers le traitement spécifique |
haarkon | 2:1d440e938c44 | 364 | } |
haarkon | 3:3dfe26a10796 | 365 | if ((PIXY_state == begin) || (PIXY_state == none)) { // Si c'est autre chose |
haarkon | 3:3dfe26a10796 | 366 | PIXY_synced = 0; // C'est qu'on est perdu donc plus synchronisé. |
haarkon | 3:3dfe26a10796 | 367 | PIXY_state = none; // Ceinture et bretelle |
haarkon | 2:1d440e938c44 | 368 | } |
haarkon | 2:1d440e938c44 | 369 | byteCount = 0; |
haarkon | 2:1d440e938c44 | 370 | } |
haarkon | 2:1d440e938c44 | 371 | break; |
haarkon | 2:1d440e938c44 | 372 | |
haarkon | 2:1d440e938c44 | 373 | case normal : // Si on a un bloc normal |
haarkon | 2:1d440e938c44 | 374 | |
haarkon | 3:3dfe26a10796 | 375 | Pixy_NMFIFO[PIXY_wNMObjet].tab[byteCount] = Pixy.getc(); // On stocke les octets un à un dans la structure Bloc |
haarkon | 2:1d440e938c44 | 376 | if (byteCount < 11) { // Tant que la structure n'est pas pleine |
haarkon | 2:1d440e938c44 | 377 | byteCount++; // On passe à l'octet suivant |
haarkon | 2:1d440e938c44 | 378 | } else { // Quand elle est pleine |
haarkon | 2:1d440e938c44 | 379 | byteCount = 0; // On réinitialise |
haarkon | 3:3dfe26a10796 | 380 | PIXY_state = begin; // On retourne à l'aiguillage |
haarkon | 2:1d440e938c44 | 381 | // On calcule la somme de contrôle |
haarkon | 3:3dfe26a10796 | 382 | somme = Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.signature + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.x + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.y + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.width + Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.height; |
haarkon | 2:1d440e938c44 | 383 | |
haarkon | 3:3dfe26a10796 | 384 | if (somme == Pixy_NMFIFO[PIXY_wNMObjet].NMbloc.checksum) { // Si le checksum est bon, on valide la réception |
haarkon | 3:3dfe26a10796 | 385 | if (PIXY_wNMObjet < 19) PIXY_wNMObjet++; // On incrémente le pointeur d'écriture dans la FIFO Objet |
haarkon | 3:3dfe26a10796 | 386 | else PIXY_wNMObjet = 0; |
haarkon | 3:3dfe26a10796 | 387 | if (PIXY_nbNMObjet < 19) PIXY_nbNMObjet++; // On dit que l'on a un objet CC de plus |
haarkon | 2:1d440e938c44 | 388 | else FlagPixyOverflow = 1; // Si on a plus de 20 CC objets (en attente) => Overflow |
haarkon | 2:1d440e938c44 | 389 | } |
haarkon | 2:1d440e938c44 | 390 | } |
haarkon | 2:1d440e938c44 | 391 | break; |
haarkon | 2:1d440e938c44 | 392 | |
haarkon | 2:1d440e938c44 | 393 | case colorCode : // Si on a un bloc colorCode |
haarkon | 2:1d440e938c44 | 394 | |
haarkon | 3:3dfe26a10796 | 395 | Pixy_CCFIFO[PIXY_wCCObjet].tab[byteCount] = dummy; // On stocke les octets un à un dans la structure CCBloc |
haarkon | 2:1d440e938c44 | 396 | if (byteCount < 13) byteCount++; // tant que la structure n'est pas pleine on passe à l'octet suivant |
haarkon | 2:1d440e938c44 | 397 | else { // Quand elle est pleine |
haarkon | 2:1d440e938c44 | 398 | byteCount = 0; // On réinitialise |
haarkon | 3:3dfe26a10796 | 399 | PIXY_state = begin; // On retourne à l'aiguillage |
haarkon | 2:1d440e938c44 | 400 | // On calcule la somme de contrôle |
haarkon | 3:3dfe26a10796 | 401 | somme = Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.signature + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.x + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.y + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.width + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.height + Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.angle; |
haarkon | 2:1d440e938c44 | 402 | |
haarkon | 3:3dfe26a10796 | 403 | if (somme == Pixy_CCFIFO[PIXY_wCCObjet].CCbloc.checksum) { // Si le checksum est bon |
haarkon | 3:3dfe26a10796 | 404 | if (PIXY_wCCObjet < 19) PIXY_wCCObjet++; // On incrémente le pointeur d'écriture dans la FIFO CCObjet |
haarkon | 3:3dfe26a10796 | 405 | else PIXY_wCCObjet = 0; |
haarkon | 3:3dfe26a10796 | 406 | if (PIXY_nbCCObjet < 19) PIXY_nbCCObjet++; // On dit que l'on a un objet CC de plus à traiter |
haarkon | 2:1d440e938c44 | 407 | else FlagPixyOverflow = 1; // Si on a plus de 20 CC objets (en attente) => Overflow |
haarkon | 2:1d440e938c44 | 408 | } |
haarkon | 2:1d440e938c44 | 409 | } |
haarkon | 2:1d440e938c44 | 410 | break; |
haarkon | 2:1d440e938c44 | 411 | |
haarkon | 2:1d440e938c44 | 412 | case doubleZero : // Si on a reçu le code de début d'une nouvelle trame. |
haarkon | 2:1d440e938c44 | 413 | |
haarkon | 2:1d440e938c44 | 414 | msgBuffer.tab[byteCount%2] = Pixy.getc(); // on stocke les octets reçus |
haarkon | 2:1d440e938c44 | 415 | byteCount++; |
haarkon | 2:1d440e938c44 | 416 | if (byteCount == 2) { // Quand on a 2 octets |
haarkon | 2:1d440e938c44 | 417 | if (msgBuffer.mot == 0xaa55) { // On doit impérativement trouver le code 0xAA55 |
haarkon | 3:3dfe26a10796 | 418 | PIXY_state = begin; // Si c'est le cas, alors tout va bien et on va à l'aiguillage |
haarkon | 3:3dfe26a10796 | 419 | Pixy_NMObjet = PIXY_nbNMObjet; // On met à jour les variables pour le traitement |
haarkon | 3:3dfe26a10796 | 420 | Pixy_CCObjet = PIXY_nbCCObjet; |
haarkon | 3:3dfe26a10796 | 421 | PIXY_nbCCObjet = 0; |
haarkon | 3:3dfe26a10796 | 422 | PIXY_nbNMObjet = 0; |
haarkon | 3:3dfe26a10796 | 423 | FlagPixy = 1; // On valide le traitement de la trame précédente. |
haarkon | 2:1d440e938c44 | 424 | } else { // Si on trouve autre chose |
haarkon | 3:3dfe26a10796 | 425 | PIXY_synced = 0; // C'est qu'on est perdu donc plus synchronisé. |
haarkon | 3:3dfe26a10796 | 426 | PIXY_state = none; // Ceinture et bretelle |
haarkon | 2:1d440e938c44 | 427 | } |
haarkon | 2:1d440e938c44 | 428 | byteCount = 0; |
haarkon | 2:1d440e938c44 | 429 | } |
haarkon | 2:1d440e938c44 | 430 | break; |
haarkon | 0:f00e68bef80c | 431 | } |
haarkon | 0:f00e68bef80c | 432 | } |
haarkon | 0:f00e68bef80c | 433 | } |
haarkon | 0:f00e68bef80c | 434 | |
DOREL | 9:9e8b83cf5083 | 435 | void motor_command(int mg_command, int md_command, float* mg_pwm, float* md_pwm, int* mg_sens, int* md_sens) { |
DOREL | 9:9e8b83cf5083 | 436 | if(mg_command >= 0) { |
DOREL | 10:4e1c8b3edee7 | 437 | *mg_sens = 1; |
DOREL | 10:4e1c8b3edee7 | 438 | *mg_pwm = 1-((float)(mg_command%101)/100); |
DOREL | 9:9e8b83cf5083 | 439 | } else { |
DOREL | 10:4e1c8b3edee7 | 440 | *mg_sens = 0; |
DOREL | 10:4e1c8b3edee7 | 441 | *mg_pwm = ((float)(-mg_command%101)/100); |
DOREL | 9:9e8b83cf5083 | 442 | } |
DOREL | 9:9e8b83cf5083 | 443 | if(md_command >= 0) { |
DOREL | 10:4e1c8b3edee7 | 444 | *md_sens = 0; |
DOREL | 10:4e1c8b3edee7 | 445 | *md_pwm = ((float)(md_command%101)/100); |
DOREL | 9:9e8b83cf5083 | 446 | } else { |
DOREL | 9:9e8b83cf5083 | 447 | *md_sens = 1; |
DOREL | 10:4e1c8b3edee7 | 448 | *md_pwm = 1-((float)(-md_command%101)/100); |
DOREL | 9:9e8b83cf5083 | 449 | } |
DOREL | 9:9e8b83cf5083 | 450 | } |
haarkon | 2:1d440e938c44 | 451 | |
haarkon | 0:f00e68bef80c | 452 | int main() |
haarkon | 0:f00e68bef80c | 453 | { |
haarkon | 0:f00e68bef80c | 454 | |
haarkon | 2:1d440e938c44 | 455 | int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, MOTG_check = -1, MOTD_check = -1*/; |
haarkon | 5:4955cb4b3646 | 456 | |
haarkon | 3:3dfe26a10796 | 457 | Byte PIXY_rCCObjet = 0, PIXY_rNMObjet = 0; |
haarkon | 2:1d440e938c44 | 458 | int PIXY_objet; |
haarkon | 0:f00e68bef80c | 459 | |
haarkon | 6:88b4805d33e1 | 460 | int SERVO_pulseWidth = 400, SERVO_max = 1400, SERVO_min = 400; |
haarkon | 0:f00e68bef80c | 461 | T_SERVODIR SERVO_dir = S_monte; |
haarkon | 0:f00e68bef80c | 462 | |
haarkon | 0:f00e68bef80c | 463 | char MENU_choix = 0; |
haarkon | 0:f00e68bef80c | 464 | |
haarkon | 2:1d440e938c44 | 465 | char BOUSSOLE_status[1] = {0}; |
haarkon | 0:f00e68bef80c | 466 | char I2C_registerValue[4]; |
haarkon | 3:3dfe26a10796 | 467 | double BOUSSOLE_periode; |
haarkon | 0:f00e68bef80c | 468 | |
haarkon | 0:f00e68bef80c | 469 | double CAP_I2C, CAP_PWM; |
haarkon | 0:f00e68bef80c | 470 | double SD1_val, SD2_val, LD1_val, LD2_val, CNY1_val, CNY2_val, CNY3_val, Vbat_val; |
haarkon | 0:f00e68bef80c | 471 | double SD1_dist, SD2_dist, LD1_dist, LD2_dist; |
haarkon | 0:f00e68bef80c | 472 | |
DOREL | 9:9e8b83cf5083 | 473 | float md_pwm = 0; |
DOREL | 9:9e8b83cf5083 | 474 | float mg_pwm = 0; |
DOREL | 9:9e8b83cf5083 | 475 | int md_sens = 1; |
DOREL | 9:9e8b83cf5083 | 476 | int mg_sens = 1; |
DOREL | 8:0977c3794f10 | 477 | |
DOREL | 10:4e1c8b3edee7 | 478 | int i = 0; |
DOREL | 9:9e8b83cf5083 | 479 | float val_carre_balle=0, val_x_balle=0; |
DOREL | 9:9e8b83cf5083 | 480 | |
DOREL | 10:4e1c8b3edee7 | 481 | float erreur_asservissement, commande_moteur = 30, mesure_angle_pixy; |
haarkon | 5:4955cb4b3646 | 482 | |
haarkon | 2:1d440e938c44 | 483 | times.reset(); |
haarkon | 2:1d440e938c44 | 484 | times.start(); |
haarkon | 0:f00e68bef80c | 485 | |
haarkon | 6:88b4805d33e1 | 486 | // Initialisation des interruptions |
haarkon | 2:1d440e938c44 | 487 | tick.attach(&tickTime, 0.001); |
haarkon | 0:f00e68bef80c | 488 | |
haarkon | 6:88b4805d33e1 | 489 | BP.rise (&BPevent); |
haarkon | 0:f00e68bef80c | 490 | |
haarkon | 6:88b4805d33e1 | 491 | Echo1.rise (&echo1Rise); |
haarkon | 6:88b4805d33e1 | 492 | Echo2.rise (&echo2Rise); |
haarkon | 6:88b4805d33e1 | 493 | Echo3.rise (&echo3Rise); |
haarkon | 6:88b4805d33e1 | 494 | Echo1.fall (&echo1Fall); |
haarkon | 6:88b4805d33e1 | 495 | Echo2.fall (&echo2Fall); |
haarkon | 6:88b4805d33e1 | 496 | Echo3.fall (&echo3Fall); |
haarkon | 6:88b4805d33e1 | 497 | |
haarkon | 6:88b4805d33e1 | 498 | PWMG.rise (&PWM_motGRise); |
haarkon | 6:88b4805d33e1 | 499 | PWMD.rise (&PWM_motDRise); |
haarkon | 6:88b4805d33e1 | 500 | |
haarkon | 6:88b4805d33e1 | 501 | Pixy.attach (&getPixyByte); |
haarkon | 0:f00e68bef80c | 502 | |
haarkon | 1:d95546f84105 | 503 | BP.enable_irq(); |
haarkon | 0:f00e68bef80c | 504 | IG.enable_irq(); |
haarkon | 0:f00e68bef80c | 505 | Echo1.enable_irq(); |
haarkon | 0:f00e68bef80c | 506 | Echo2.enable_irq(); |
haarkon | 0:f00e68bef80c | 507 | Echo3.enable_irq(); |
haarkon | 6:88b4805d33e1 | 508 | PWMG.enable_irq(); |
haarkon | 6:88b4805d33e1 | 509 | PWMD.enable_irq(); |
haarkon | 0:f00e68bef80c | 510 | |
haarkon | 6:88b4805d33e1 | 511 | // Initialisation des périphériques |
haarkon | 6:88b4805d33e1 | 512 | // Bus I2C |
haarkon | 6:88b4805d33e1 | 513 | Bus_I2C.frequency (100000); |
haarkon | 0:f00e68bef80c | 514 | |
haarkon | 6:88b4805d33e1 | 515 | // PWM des moteurs |
haarkon | 0:f00e68bef80c | 516 | Pwm_MG.period_us(50); |
haarkon | 0:f00e68bef80c | 517 | Pwm_MD.period_us(50); |
haarkon | 0:f00e68bef80c | 518 | En = 0; |
haarkon | 5:4955cb4b3646 | 519 | |
haarkon | 6:88b4805d33e1 | 520 | // Bus SPI |
haarkon | 6:88b4805d33e1 | 521 | SPIG.format (16,1); |
haarkon | 6:88b4805d33e1 | 522 | SPIG.frequency (1000000); |
haarkon | 6:88b4805d33e1 | 523 | |
haarkon | 6:88b4805d33e1 | 524 | SPID.format (16,1); |
haarkon | 6:88b4805d33e1 | 525 | SPID.frequency (1000000); |
haarkon | 6:88b4805d33e1 | 526 | |
haarkon | 6:88b4805d33e1 | 527 | SS = 1; |
haarkon | 6:88b4805d33e1 | 528 | |
haarkon | 6:88b4805d33e1 | 529 | // Led |
haarkon | 0:f00e68bef80c | 530 | Led2 = 0; |
haarkon | 0:f00e68bef80c | 531 | |
DOREL | 10:4e1c8b3edee7 | 532 | En = 1; |
DOREL | 10:4e1c8b3edee7 | 533 | |
haarkon | 6:88b4805d33e1 | 534 | Servo.period_ms (20); |
DOREL | 10:4e1c8b3edee7 | 535 | Servo.pulsewidth_us(200); |
DOREL | 10:4e1c8b3edee7 | 536 | |
DOREL | 10:4e1c8b3edee7 | 537 | Pc.printf("test1\n\r"); |
DOREL | 10:4e1c8b3edee7 | 538 | |
DOREL | 10:4e1c8b3edee7 | 539 | motor_command(60, -60, &mg_pwm, &md_pwm, &mg_sens, &md_sens); |
DOREL | 10:4e1c8b3edee7 | 540 | Pwm_MD = md_pwm; |
DOREL | 10:4e1c8b3edee7 | 541 | Pwm_MG = mg_pwm; |
DOREL | 10:4e1c8b3edee7 | 542 | SensD = md_sens; |
DOREL | 10:4e1c8b3edee7 | 543 | SensG = mg_sens; |
DOREL | 10:4e1c8b3edee7 | 544 | wait_ms(3000); |
DOREL | 10:4e1c8b3edee7 | 545 | |
DOREL | 10:4e1c8b3edee7 | 546 | Pc.printf("Pwm_MG = %lf, Pwm_MD = %lf, SensG = %d, SensD = %d\r\n", mg_pwm, md_pwm, mg_sens, md_sens); |
haarkon | 0:f00e68bef80c | 547 | |
DOREL | 10:4e1c8b3edee7 | 548 | Pwm_MD = 0; |
DOREL | 10:4e1c8b3edee7 | 549 | Pwm_MG = 0; |
DOREL | 10:4e1c8b3edee7 | 550 | SensD = 0; |
DOREL | 10:4e1c8b3edee7 | 551 | SensG = 0; |
DOREL | 10:4e1c8b3edee7 | 552 | |
haarkon | 0:f00e68bef80c | 553 | while(1) { |
DOREL | 10:4e1c8b3edee7 | 554 | /* |
DOREL | 9:9e8b83cf5083 | 555 | val_x_balle = 0; |
DOREL | 9:9e8b83cf5083 | 556 | i = 0; |
DOREL | 10:4e1c8b3edee7 | 557 | while ((val_x_balle==0) && (i<19)) { |
DOREL | 8:0977c3794f10 | 558 | //test carre +/-5% |
DOREL | 8:0977c3794f10 | 559 | val_carre_balle = (float)Pixy_NMFIFO[i].NMbloc.height/(float)Pixy_NMFIFO[i].NMbloc.width; |
DOREL | 8:0977c3794f10 | 560 | if ((0.85<val_carre_balle) && (val_carre_balle<1.15)) val_x_balle =Pixy_NMFIFO[i].NMbloc.x+Pixy_NMFIFO[i].NMbloc.width/2; |
DOREL | 8:0977c3794f10 | 561 | i++; |
DOREL | 9:9e8b83cf5083 | 562 | } |
DOREL | 9:9e8b83cf5083 | 563 | mesure_angle_pixy=(val_x_balle-160)*(37.5/160); |
DOREL | 9:9e8b83cf5083 | 564 | Pc.printf("%lf %lf\r\n", val_x_balle, mesure_angle_pixy); |
DOREL | 8:0977c3794f10 | 565 | wait_us(50000); |
DOREL | 8:0977c3794f10 | 566 | erreur_asservissement = 2 * (-mesure_angle_pixy); |
DOREL | 8:0977c3794f10 | 567 | motor_command(commande_moteur+erreur_asservissement, commande_moteur-erreur_asservissement, &mg_pwm, &md_pwm, &mg_sens, &md_sens); |
DOREL | 10:4e1c8b3edee7 | 568 | mesure_angle_pixy; |
DOREL | 10:4e1c8b3edee7 | 569 | Pwm_MD = md_pwm; |
DOREL | 10:4e1c8b3edee7 | 570 | Pwm_MG = mg_pwm; |
DOREL | 10:4e1c8b3edee7 | 571 | SensD = md_sens; |
DOREL | 10:4e1c8b3edee7 | 572 | SensG = mg_sens; |
DOREL | 10:4e1c8b3edee7 | 573 | */ |
haarkon | 0:f00e68bef80c | 574 | } |
haarkon | 0:f00e68bef80c | 575 | } |