Asservissement
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
Fork of TestBoard by
main.cpp@1:d95546f84105, 2017-05-29 (annotated)
- Committer:
- haarkon
- Date:
- Mon May 29 16:23:47 2017 +0000
- Revision:
- 1:d95546f84105
- Parent:
- 0:f00e68bef80c
- Child:
- 2:1d440e938c44
Evo pour utilisation de la pixy
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 | 0:f00e68bef80c | 14 | #define BOUSSOLE_adress 0xC0 |
haarkon | 0:f00e68bef80c | 15 | |
haarkon | 0:f00e68bef80c | 16 | typedef unsigned char Byte; |
haarkon | 0:f00e68bef80c | 17 | typedef unsigned short Word; |
haarkon | 0:f00e68bef80c | 18 | typedef unsigned long lWord; |
haarkon | 0:f00e68bef80c | 19 | |
haarkon | 0:f00e68bef80c | 20 | typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR; |
haarkon | 0:f00e68bef80c | 21 | |
haarkon | 0:f00e68bef80c | 22 | typedef union { |
haarkon | 0:f00e68bef80c | 23 | lWord header; |
haarkon | 0:f00e68bef80c | 24 | Byte tab[4]; |
haarkon | 0:f00e68bef80c | 25 | } T_tmpbuffer; |
haarkon | 0:f00e68bef80c | 26 | |
haarkon | 0:f00e68bef80c | 27 | typedef struct { |
haarkon | 0:f00e68bef80c | 28 | Word checksum; |
haarkon | 0:f00e68bef80c | 29 | Word signature; |
haarkon | 0:f00e68bef80c | 30 | Word x; |
haarkon | 0:f00e68bef80c | 31 | Word y; |
haarkon | 0:f00e68bef80c | 32 | Word width; |
haarkon | 0:f00e68bef80c | 33 | Word height; |
haarkon | 0:f00e68bef80c | 34 | Word angle; // angle is only available for color coded blocks |
haarkon | 0:f00e68bef80c | 35 | } T_pixyCCBloc; |
haarkon | 0:f00e68bef80c | 36 | |
haarkon | 0:f00e68bef80c | 37 | |
haarkon | 0:f00e68bef80c | 38 | typedef union { |
haarkon | 0:f00e68bef80c | 39 | Byte tab[14]; |
haarkon | 0:f00e68bef80c | 40 | T_pixyCCBloc CCbloc; |
haarkon | 0:f00e68bef80c | 41 | } T_pixyData; |
haarkon | 0:f00e68bef80c | 42 | |
haarkon | 0:f00e68bef80c | 43 | |
haarkon | 0:f00e68bef80c | 44 | /** Liste des objets |
haarkon | 0:f00e68bef80c | 45 | * |
haarkon | 0:f00e68bef80c | 46 | * Serial #4 Pixy |
haarkon | 0:f00e68bef80c | 47 | * Serial #2 Pc |
haarkon | 0:f00e68bef80c | 48 | * |
haarkon | 0:f00e68bef80c | 49 | * AnalogIn C1, C2, C3, LD1, LD2, SD1, SD2, Vbat |
haarkon | 0:f00e68bef80c | 50 | * |
haarkon | 0:f00e68bef80c | 51 | * DigitalOut Led1, Led2, Trig1, Trig2, Trig3, En, SensG, SensD |
haarkon | 0:f00e68bef80c | 52 | * |
haarkon | 0:f00e68bef80c | 53 | * InterruptIn IndexG, IndexD, Echo1, Echo2, Echo3, BP |
haarkon | 0:f00e68bef80c | 54 | * |
haarkon | 0:f00e68bef80c | 55 | * PwmOut Pwm_MG, Pwm_MD, Servo |
haarkon | 0:f00e68bef80c | 56 | * |
haarkon | 0:f00e68bef80c | 57 | * PwmIn PWMG, PWMD, PWMB |
haarkon | 0:f00e68bef80c | 58 | * |
haarkon | 0:f00e68bef80c | 59 | * I2C Bus_I2C |
haarkon | 0:f00e68bef80c | 60 | * |
haarkon | 0:f00e68bef80c | 61 | * SPI MotG, MotD |
haarkon | 0:f00e68bef80c | 62 | * |
haarkon | 0:f00e68bef80c | 63 | * Nucleo_Encoder_16_bits Gauche, Droite |
haarkon | 0:f00e68bef80c | 64 | * |
haarkon | 0:f00e68bef80c | 65 | * Ticker timer |
haarkon | 0:f00e68bef80c | 66 | */ |
haarkon | 0:f00e68bef80c | 67 | |
haarkon | 0:f00e68bef80c | 68 | /** Liste des PINs |
haarkon | 0:f00e68bef80c | 69 | * |
haarkon | 0:f00e68bef80c | 70 | * PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée |
haarkon | 0:f00e68bef80c | 71 | * PA_0 -> Pixy RX (Serial) |
haarkon | 0:f00e68bef80c | 72 | * PA_1 -> Pixy TX (Serial) |
haarkon | 0:f00e68bef80c | 73 | * PA_2 -> PC TX (Serial) |
haarkon | 0:f00e68bef80c | 74 | * PA_3 -> PX RX (Serial) |
haarkon | 0:f00e68bef80c | 75 | * PA_4 -> GP2 SD #2 (Analog In) |
haarkon | 0:f00e68bef80c | 76 | * PA_5 -> LED1 (Digital Out) |
haarkon | 0:f00e68bef80c | 77 | * PA_6 -> CNY3 (Analog In) |
haarkon | 0:f00e68bef80c | 78 | * PA_7 -> CNY2 (Analog In) |
haarkon | 0:f00e68bef80c | 79 | * PA_8 -> Servomoteur (PWM Out) |
haarkon | 0:f00e68bef80c | 80 | * PA_9 -> US Trigger #3 (Digital Out) |
haarkon | 1:d95546f84105 | 81 | * PA_10 -> US Echo #1 (Pwm In) |
haarkon | 0:f00e68bef80c | 82 | * PA_11 -> US Echo #2 (Pwm In) |
haarkon | 1:d95546f84105 | 83 | * PA_12 -> SS (SPI Slave Select) (Digital Out) |
haarkon | 0:f00e68bef80c | 84 | * PA_13 |
haarkon | 0:f00e68bef80c | 85 | * PA_14 |
haarkon | 0:f00e68bef80c | 86 | * PA_15 -> Boussole (Pwm In) |
haarkon | 0:f00e68bef80c | 87 | * |
haarkon | 0:f00e68bef80c | 88 | * PB_0 -> GP2 SD #1 (Analog In) |
haarkon | 0:f00e68bef80c | 89 | * PB_1 -> Position D (Pwm In) |
haarkon | 0:f00e68bef80c | 90 | * PB_2 -> Position G (Pwm In) |
haarkon | 0:f00e68bef80c | 91 | * PB_3 -> PWM Mot D (PWM Out) |
haarkon | 0:f00e68bef80c | 92 | * PB_4 -> Enocdeur Droit A (QE) |
haarkon | 0:f00e68bef80c | 93 | * PB_5 -> Enocdeur Droit B (QE) |
haarkon | 0:f00e68bef80c | 94 | * PB_6 -> Enocdeur Gauche A (QE) |
haarkon | 0:f00e68bef80c | 95 | * PB_7 -> Enocdeur Gauche B (QE) |
haarkon | 0:f00e68bef80c | 96 | * PB_8 -> SCL (I2C) |
haarkon | 0:f00e68bef80c | 97 | * PB_9 -> SDA (I2C) |
haarkon | 0:f00e68bef80c | 98 | * PB_10 -> PWM Mot G (PWM Out) |
haarkon | 0:f00e68bef80c | 99 | * PB_11 |
haarkon | 0:f00e68bef80c | 100 | * PB_12 -> US Echo #3 (Pwm In) |
haarkon | 0:f00e68bef80c | 101 | * PB_13 -> SCK Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 102 | * PB_14 -> MISO Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 103 | * PB_15 -> MOSI Encodeur D (SPI) |
haarkon | 0:f00e68bef80c | 104 | * |
haarkon | 0:f00e68bef80c | 105 | * PC_0 -> GP2 LD #1 (Analog In) |
haarkon | 0:f00e68bef80c | 106 | * PC_1 -> GP2 LD #2 (Analog In) |
haarkon | 0:f00e68bef80c | 107 | * PC_2 -> US Trigger #2 (Digital Out) |
haarkon | 0:f00e68bef80c | 108 | * PC_3 -> US Trigger #1 (Digital Out) |
haarkon | 0:f00e68bef80c | 109 | * PC_4 -> CNY1 (Analog In) |
haarkon | 0:f00e68bef80c | 110 | * PC_5 -> Vbat (Analog In) |
haarkon | 0:f00e68bef80c | 111 | * PC_6 -> Dir Mot Droit (Digital Out) |
haarkon | 0:f00e68bef80c | 112 | * PC_7 -> I (Encodeur Gauche) (IRQ In) |
haarkon | 0:f00e68bef80c | 113 | * PC_8 -> Dir Mot Gauche (Digital Out) |
haarkon | 0:f00e68bef80c | 114 | * PC_9 -> Enable Moteurs (Digital Out) |
haarkon | 0:f00e68bef80c | 115 | * PC_10 -> SCK Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 116 | * PC_11 -> MISO Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 117 | * PC_12 -> MOSI Encodeur G (SPI) |
haarkon | 0:f00e68bef80c | 118 | * PC_13 -> User BP (IRQ In) |
haarkon | 0:f00e68bef80c | 119 | * PC_14 |
haarkon | 0:f00e68bef80c | 120 | * PC_15 |
haarkon | 0:f00e68bef80c | 121 | * |
haarkon | 0:f00e68bef80c | 122 | * PD_1 |
haarkon | 0:f00e68bef80c | 123 | * PD_2 -> Led2 (Digital Out) |
haarkon | 0:f00e68bef80c | 124 | */ |
haarkon | 0:f00e68bef80c | 125 | |
haarkon | 1:d95546f84105 | 126 | Serial Pixy (PA_0, PA_1, 230400); |
haarkon | 0:f00e68bef80c | 127 | Serial Pc (PA_2, PA_3, 460800); |
haarkon | 0:f00e68bef80c | 128 | |
haarkon | 0:f00e68bef80c | 129 | AnalogIn CNY1 (PC_4); |
haarkon | 0:f00e68bef80c | 130 | AnalogIn CNY2 (PA_7); |
haarkon | 0:f00e68bef80c | 131 | AnalogIn CNY3 (PA_6); |
haarkon | 0:f00e68bef80c | 132 | AnalogIn LD1 (PC_0); |
haarkon | 0:f00e68bef80c | 133 | AnalogIn LD2 (PC_1); |
haarkon | 0:f00e68bef80c | 134 | AnalogIn SD1 (PB_0); |
haarkon | 0:f00e68bef80c | 135 | AnalogIn SD2 (PA_4); |
haarkon | 0:f00e68bef80c | 136 | AnalogIn Vbat (PC_5); |
haarkon | 0:f00e68bef80c | 137 | |
haarkon | 0:f00e68bef80c | 138 | DigitalOut Led1 (PA_5); |
haarkon | 0:f00e68bef80c | 139 | DigitalOut Led2 (PD_2); |
haarkon | 0:f00e68bef80c | 140 | DigitalOut Trig1 (PC_3); |
haarkon | 0:f00e68bef80c | 141 | DigitalOut Trig2 (PC_2); |
haarkon | 0:f00e68bef80c | 142 | DigitalOut Trig3 (PA_9); |
haarkon | 0:f00e68bef80c | 143 | DigitalOut En (PC_9); |
haarkon | 0:f00e68bef80c | 144 | DigitalOut SensG (PC_8); |
haarkon | 0:f00e68bef80c | 145 | DigitalOut SensD (PC_6); |
haarkon | 1:d95546f84105 | 146 | DigitalOut SS (PA_12); |
haarkon | 0:f00e68bef80c | 147 | |
haarkon | 1:d95546f84105 | 148 | InterruptIn Echo1 (PA_10); |
haarkon | 0:f00e68bef80c | 149 | InterruptIn Echo2 (PA_11); |
haarkon | 0:f00e68bef80c | 150 | InterruptIn Echo3 (PB_12); |
haarkon | 0:f00e68bef80c | 151 | InterruptIn BP (PC_13); |
haarkon | 0:f00e68bef80c | 152 | InterruptIn IG (PC_7); |
haarkon | 1:d95546f84105 | 153 | |
haarkon | 1:d95546f84105 | 154 | PwmIn PWMG (PB_2); |
haarkon | 1:d95546f84105 | 155 | PwmIn PWMD (PB_1); |
haarkon | 1:d95546f84105 | 156 | PwmIn PWMB (PA_15); |
haarkon | 0:f00e68bef80c | 157 | |
haarkon | 0:f00e68bef80c | 158 | PwmOut Pwm_MG (PB_10); |
haarkon | 0:f00e68bef80c | 159 | PwmOut Pwm_MD (PB_3); |
haarkon | 0:f00e68bef80c | 160 | PwmOut Servo (PA_8); |
haarkon | 0:f00e68bef80c | 161 | |
haarkon | 0:f00e68bef80c | 162 | I2C Bus_I2C (PB_9, PB_8); |
haarkon | 0:f00e68bef80c | 163 | |
haarkon | 0:f00e68bef80c | 164 | SPI MotG (PC_12, PC_11, PC_10); |
haarkon | 0:f00e68bef80c | 165 | SPI MotD (PB_15, PB_14, PB_13); |
haarkon | 0:f00e68bef80c | 166 | |
haarkon | 0:f00e68bef80c | 167 | Nucleo_Encoder_16_bits Gauche (TIM4); // A = PB_6, B = PB_7 |
haarkon | 0:f00e68bef80c | 168 | Nucleo_Encoder_16_bits Droite (TIM3); // A = PB_4, B = PB_5 |
haarkon | 0:f00e68bef80c | 169 | |
haarkon | 0:f00e68bef80c | 170 | Ticker timer; |
haarkon | 0:f00e68bef80c | 171 | Timer temps; |
haarkon | 0:f00e68bef80c | 172 | |
haarkon | 0:f00e68bef80c | 173 | /** Liste des variables globales |
haarkon | 0:f00e68bef80c | 174 | * |
haarkon | 0:f00e68bef80c | 175 | * Tick -> (long) Compte le nombre de MS écoulé et déclenche l'exécution de la boucle en fonction du temps écoulé. |
haarkon | 0:f00e68bef80c | 176 | * FlagIG -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue gauche |
haarkon | 0:f00e68bef80c | 177 | * FlagID -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue droite |
haarkon | 0:f00e68bef80c | 178 | * EchoXStart -> (long) Donne le temps en µs de début de l'impulsion d'écho de l'US n°X |
haarkon | 0:f00e68bef80c | 179 | * DistUSX -> (float) Donne la distance en mm mesurée par l'US n°X |
haarkon | 0:f00e68bef80c | 180 | */ |
haarkon | 0:f00e68bef80c | 181 | |
haarkon | 0:f00e68bef80c | 182 | // Structure de temps |
haarkon | 0:f00e68bef80c | 183 | lWord Tick = 0; |
haarkon | 0:f00e68bef80c | 184 | |
haarkon | 0:f00e68bef80c | 185 | // Sémaphore d'interruption |
haarkon | 0:f00e68bef80c | 186 | int FlagUS1 = 0, FlagUS2 = 0, FlagUS3 = 0, FlagPixy = 0, FlagPixyOverflow = 0; |
haarkon | 0:f00e68bef80c | 187 | int FlagTick = 0, FlagTickLed = 0, BPPressed = 0; |
haarkon | 0:f00e68bef80c | 188 | |
haarkon | 0:f00e68bef80c | 189 | // Dialogue avec la Pixy |
haarkon | 0:f00e68bef80c | 190 | T_pixyData Pixy_FIFO[20]; |
haarkon | 1:d95546f84105 | 191 | Byte Pixy_nbObjet = 0, Pixy_wObjet = 0, Pixy_rObjet = 0; |
haarkon | 0:f00e68bef80c | 192 | |
haarkon | 0:f00e68bef80c | 193 | // Gestion des capteurs Ultrason |
haarkon | 0:f00e68bef80c | 194 | long Echo1Start, Echo2Start, Echo3Start; |
haarkon | 0:f00e68bef80c | 195 | double DistUS1, DistUS2, DistUS3; |
haarkon | 0:f00e68bef80c | 196 | |
haarkon | 0:f00e68bef80c | 197 | /** Liste des interruptions |
haarkon | 0:f00e68bef80c | 198 | * |
haarkon | 0:f00e68bef80c | 199 | */ |
haarkon | 0:f00e68bef80c | 200 | |
haarkon | 0:f00e68bef80c | 201 | void tickTime() |
haarkon | 0:f00e68bef80c | 202 | { |
haarkon | 0:f00e68bef80c | 203 | Tick++; |
haarkon | 0:f00e68bef80c | 204 | FlagTick = 1; |
haarkon | 0:f00e68bef80c | 205 | if ((Tick%100)==0) FlagTickLed = 1; |
haarkon | 0:f00e68bef80c | 206 | } |
haarkon | 0:f00e68bef80c | 207 | |
haarkon | 0:f00e68bef80c | 208 | void BPevent () |
haarkon | 0:f00e68bef80c | 209 | { |
haarkon | 0:f00e68bef80c | 210 | BPPressed = 1; |
haarkon | 0:f00e68bef80c | 211 | } |
haarkon | 0:f00e68bef80c | 212 | |
haarkon | 0:f00e68bef80c | 213 | void echo1Rise () |
haarkon | 0:f00e68bef80c | 214 | { |
haarkon | 0:f00e68bef80c | 215 | Echo1Start = temps.read_us(); |
haarkon | 0:f00e68bef80c | 216 | } |
haarkon | 0:f00e68bef80c | 217 | |
haarkon | 0:f00e68bef80c | 218 | void echo2Rise () |
haarkon | 0:f00e68bef80c | 219 | { |
haarkon | 0:f00e68bef80c | 220 | Echo2Start = temps.read_us(); |
haarkon | 0:f00e68bef80c | 221 | } |
haarkon | 0:f00e68bef80c | 222 | |
haarkon | 0:f00e68bef80c | 223 | void echo3Rise () |
haarkon | 0:f00e68bef80c | 224 | { |
haarkon | 0:f00e68bef80c | 225 | Echo3Start = temps.read_us(); |
haarkon | 0:f00e68bef80c | 226 | } |
haarkon | 0:f00e68bef80c | 227 | |
haarkon | 0:f00e68bef80c | 228 | void echo1Fall () |
haarkon | 0:f00e68bef80c | 229 | { |
haarkon | 0:f00e68bef80c | 230 | DistUS1 = (double)(temps.read_us() - Echo1Start)/5.8; |
haarkon | 0:f00e68bef80c | 231 | FlagUS1 = 1; |
haarkon | 0:f00e68bef80c | 232 | } |
haarkon | 0:f00e68bef80c | 233 | |
haarkon | 0:f00e68bef80c | 234 | void echo2Fall () |
haarkon | 0:f00e68bef80c | 235 | { |
haarkon | 0:f00e68bef80c | 236 | DistUS2 = (double)(temps.read_us() - Echo2Start)/5.8; |
haarkon | 0:f00e68bef80c | 237 | FlagUS2 = 1; |
haarkon | 0:f00e68bef80c | 238 | } |
haarkon | 0:f00e68bef80c | 239 | |
haarkon | 0:f00e68bef80c | 240 | void echo3Fall () |
haarkon | 0:f00e68bef80c | 241 | { |
haarkon | 0:f00e68bef80c | 242 | DistUS3 = (double)(temps.read_us() - Echo3Start)/5.8; |
haarkon | 0:f00e68bef80c | 243 | FlagUS3 = 1; |
haarkon | 0:f00e68bef80c | 244 | } |
haarkon | 0:f00e68bef80c | 245 | |
haarkon | 0:f00e68bef80c | 246 | void getPixyByte () |
haarkon | 0:f00e68bef80c | 247 | { |
haarkon | 0:f00e68bef80c | 248 | |
haarkon | 0:f00e68bef80c | 249 | static T_tmpbuffer tmpBuffer; |
haarkon | 0:f00e68bef80c | 250 | static Byte bytecount = 0; |
haarkon | 0:f00e68bef80c | 251 | static int Pixy_synced = 0; |
haarkon | 0:f00e68bef80c | 252 | int i; |
haarkon | 0:f00e68bef80c | 253 | |
haarkon | 1:d95546f84105 | 254 | Led2 = ! Led2; |
haarkon | 0:f00e68bef80c | 255 | if (!Pixy_synced) { // On n'a pas trouvé le départ (0x55aa55aa ou 0x55aa56aa) |
haarkon | 0:f00e68bef80c | 256 | tmpBuffer.tab[bytecount] = Pixy.getc(); // On stocke l'octet reçu dans la première case dispo du tableau temporaire |
haarkon | 0:f00e68bef80c | 257 | if (bytecount < 3) { // Si on n'a pas encore reçu les 4 premier octets |
haarkon | 0:f00e68bef80c | 258 | bytecount++; // On passe à la case suivante du tableau temporaire |
haarkon | 0:f00e68bef80c | 259 | } else { // Si on a 4 octets de données |
haarkon | 0:f00e68bef80c | 260 | if (tmpBuffer.header == 0x55aa56aa) { // Si on a un Color Code Bloc |
haarkon | 0:f00e68bef80c | 261 | if (Pixy_wObjet < 19) Pixy_wObjet++; // On incrémente le pointeur d'écriture dans la FIFO Objet |
haarkon | 0:f00e68bef80c | 262 | else Pixy_wObjet = 0; |
haarkon | 0:f00e68bef80c | 263 | Pixy_nbObjet++; // On dit que l'on a un objet de plus |
haarkon | 0:f00e68bef80c | 264 | if (Pixy_nbObjet >= 20) FlagPixyOverflow = 1; // Si on a plus de 20 objets (en attente) => Overflow |
haarkon | 0:f00e68bef80c | 265 | Pixy_synced = 1; // Et on peut dire que l'on a synchronisé la Pixy |
haarkon | 0:f00e68bef80c | 266 | bytecount = 0; |
haarkon | 0:f00e68bef80c | 267 | } else { // Si on n'a pas vu le header d'un Color Code Bloc |
haarkon | 0:f00e68bef80c | 268 | for (i=1; i<4; i++) tmpBuffer.tab[i-1] = tmpBuffer.tab[i]; // On décalle les cases du tableau |
haarkon | 0:f00e68bef80c | 269 | } |
haarkon | 0:f00e68bef80c | 270 | } |
haarkon | 0:f00e68bef80c | 271 | } else { // La Pixy est synchronisée |
haarkon | 0:f00e68bef80c | 272 | Pixy_FIFO[Pixy_wObjet].tab[bytecount] = Pixy.getc(); // On stocke les octets un à un dans la structure CCBloc |
haarkon | 0:f00e68bef80c | 273 | if (bytecount < 14) bytecount++; // tant que la structure n'est pas pleine |
haarkon | 0:f00e68bef80c | 274 | else { // Quand elle est pleine |
haarkon | 0:f00e68bef80c | 275 | bytecount = 0; // On réinitialise |
haarkon | 0:f00e68bef80c | 276 | Pixy_synced = 0; |
haarkon | 0:f00e68bef80c | 277 | FlagPixy = 1; // Et on signale au main qu'un objet est pret à être analysé. |
haarkon | 0:f00e68bef80c | 278 | } |
haarkon | 0:f00e68bef80c | 279 | } |
haarkon | 0:f00e68bef80c | 280 | } |
haarkon | 0:f00e68bef80c | 281 | |
haarkon | 0:f00e68bef80c | 282 | int main() |
haarkon | 0:f00e68bef80c | 283 | { |
haarkon | 0:f00e68bef80c | 284 | |
haarkon | 0:f00e68bef80c | 285 | int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, PIXY_check = -1, MOTG_check = -1, MOTD_check = -1*/; |
haarkon | 0:f00e68bef80c | 286 | int phase = 0; |
haarkon | 0:f00e68bef80c | 287 | |
haarkon | 0:f00e68bef80c | 288 | double SERVO_angle = 0, SERVO_angleMAX = 180, SERVO_angleMIN = 0; |
haarkon | 0:f00e68bef80c | 289 | Word SERVO_pos; |
haarkon | 0:f00e68bef80c | 290 | T_SERVODIR SERVO_dir = S_monte; |
haarkon | 0:f00e68bef80c | 291 | |
haarkon | 0:f00e68bef80c | 292 | Byte PIXY_red = 0, PIXY_green = 0, PIXY_blue = 0; |
haarkon | 0:f00e68bef80c | 293 | char MENU_choix = 0; |
haarkon | 0:f00e68bef80c | 294 | |
haarkon | 0:f00e68bef80c | 295 | char BOUSSOLE_status[1] = {0}/*, BOUSSOLE_bearingWord[1] = {2}*/; |
haarkon | 0:f00e68bef80c | 296 | char I2C_registerValue[4]; |
haarkon | 0:f00e68bef80c | 297 | |
haarkon | 0:f00e68bef80c | 298 | double CAP_I2C, CAP_PWM; |
haarkon | 0:f00e68bef80c | 299 | double SD1_val, SD2_val, LD1_val, LD2_val, CNY1_val, CNY2_val, CNY3_val, Vbat_val; |
haarkon | 0:f00e68bef80c | 300 | double SD1_dist, SD2_dist, LD1_dist, LD2_dist; |
haarkon | 0:f00e68bef80c | 301 | double periode; |
haarkon | 0:f00e68bef80c | 302 | |
haarkon | 0:f00e68bef80c | 303 | temps.reset(); |
haarkon | 0:f00e68bef80c | 304 | temps.start(); |
haarkon | 0:f00e68bef80c | 305 | |
haarkon | 0:f00e68bef80c | 306 | |
haarkon | 0:f00e68bef80c | 307 | timer.attach(&tickTime, 0.001); |
haarkon | 0:f00e68bef80c | 308 | |
haarkon | 0:f00e68bef80c | 309 | Bus_I2C.frequency (100000); |
haarkon | 0:f00e68bef80c | 310 | |
haarkon | 0:f00e68bef80c | 311 | BP.rise (&BPevent); |
haarkon | 0:f00e68bef80c | 312 | |
haarkon | 0:f00e68bef80c | 313 | Echo1.rise (&echo1Rise); |
haarkon | 0:f00e68bef80c | 314 | Echo2.rise (&echo2Rise); |
haarkon | 0:f00e68bef80c | 315 | Echo3.rise (&echo3Rise); |
haarkon | 0:f00e68bef80c | 316 | Echo1.fall (&echo1Fall); |
haarkon | 0:f00e68bef80c | 317 | Echo2.fall (&echo2Fall); |
haarkon | 0:f00e68bef80c | 318 | Echo3.fall (&echo3Fall); |
haarkon | 0:f00e68bef80c | 319 | |
haarkon | 1:d95546f84105 | 320 | BP.enable_irq(); |
haarkon | 0:f00e68bef80c | 321 | IG.enable_irq(); |
haarkon | 0:f00e68bef80c | 322 | Echo1.enable_irq(); |
haarkon | 0:f00e68bef80c | 323 | Echo2.enable_irq(); |
haarkon | 0:f00e68bef80c | 324 | Echo3.enable_irq(); |
haarkon | 0:f00e68bef80c | 325 | |
haarkon | 0:f00e68bef80c | 326 | Pixy.attach (&getPixyByte); |
haarkon | 0:f00e68bef80c | 327 | |
haarkon | 0:f00e68bef80c | 328 | Pwm_MG.period_us(50); |
haarkon | 0:f00e68bef80c | 329 | Pwm_MD.period_us(50); |
haarkon | 0:f00e68bef80c | 330 | Pwm_MG = 0; |
haarkon | 0:f00e68bef80c | 331 | Pwm_MD = 0; |
haarkon | 0:f00e68bef80c | 332 | En = 0; |
haarkon | 0:f00e68bef80c | 333 | SensG = 0; |
haarkon | 0:f00e68bef80c | 334 | SensD = 0; |
haarkon | 0:f00e68bef80c | 335 | Led2 = 0; |
haarkon | 0:f00e68bef80c | 336 | |
haarkon | 0:f00e68bef80c | 337 | Servo.period_ms(20); |
haarkon | 0:f00e68bef80c | 338 | |
haarkon | 0:f00e68bef80c | 339 | while(1) { |
haarkon | 0:f00e68bef80c | 340 | |
haarkon | 0:f00e68bef80c | 341 | do { |
haarkon | 0:f00e68bef80c | 342 | Led1 = 0; |
haarkon | 0:f00e68bef80c | 343 | Pc.printf ("\n\n\n\n\rProgramme de test\n\n\rEntrez le code du test a effectuer :\n\n"); |
haarkon | 0:f00e68bef80c | 344 | Pc.printf ("\r1- Capteurs Ultra Son (les 3)\n"); |
haarkon | 0:f00e68bef80c | 345 | Pc.printf ("\r2- Boussole et I2C\n"); |
haarkon | 0:f00e68bef80c | 346 | Pc.printf ("\r3- Capteurs GP2 (les 4)\n"); |
haarkon | 0:f00e68bef80c | 347 | Pc.printf ("\r4- Capteurs CNY70 (les 3)\n"); |
haarkon | 0:f00e68bef80c | 348 | Pc.printf ("\r5- VBAT\n"); |
haarkon | 0:f00e68bef80c | 349 | Pc.printf ("\r6- Moteur Gauche -- NON CODE\n"); |
haarkon | 0:f00e68bef80c | 350 | Pc.printf ("\r7- Moteur Droit -- NON CODE\n"); |
haarkon | 0:f00e68bef80c | 351 | Pc.printf ("\r8- Servomoteur\n"); |
haarkon | 0:f00e68bef80c | 352 | Pc.printf ("\r9- Test de la PIXY\n\r"); |
haarkon | 0:f00e68bef80c | 353 | MENU_choix = Pc.getc (); |
haarkon | 0:f00e68bef80c | 354 | } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>9)); |
haarkon | 0:f00e68bef80c | 355 | |
haarkon | 0:f00e68bef80c | 356 | switch (MENU_choix-'0') { |
haarkon | 0:f00e68bef80c | 357 | |
haarkon | 0:f00e68bef80c | 358 | case 1 : |
haarkon | 0:f00e68bef80c | 359 | Pc.printf ("\n\n\rTest des captreurs Ultrason\n"); |
haarkon | 0:f00e68bef80c | 360 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 361 | do { |
haarkon | 0:f00e68bef80c | 362 | |
haarkon | 0:f00e68bef80c | 363 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 364 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 365 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 366 | } |
haarkon | 0:f00e68bef80c | 367 | |
haarkon | 0:f00e68bef80c | 368 | // Gestion des US |
haarkon | 0:f00e68bef80c | 369 | if (((Tick%150)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 370 | Trig1 = 1; |
haarkon | 0:f00e68bef80c | 371 | wait_us(20); |
haarkon | 0:f00e68bef80c | 372 | Trig1 = 0; |
haarkon | 0:f00e68bef80c | 373 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 374 | } |
haarkon | 0:f00e68bef80c | 375 | |
haarkon | 0:f00e68bef80c | 376 | if (((Tick%150)==50) && FlagTick) { |
haarkon | 0:f00e68bef80c | 377 | Trig2 = 1; |
haarkon | 0:f00e68bef80c | 378 | wait_us(20); |
haarkon | 0:f00e68bef80c | 379 | Trig2 = 0; |
haarkon | 0:f00e68bef80c | 380 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 381 | } |
haarkon | 0:f00e68bef80c | 382 | |
haarkon | 0:f00e68bef80c | 383 | if (((Tick%150)==100) && FlagTick) { |
haarkon | 0:f00e68bef80c | 384 | Trig3 = 1; |
haarkon | 0:f00e68bef80c | 385 | wait_us(20); |
haarkon | 0:f00e68bef80c | 386 | Trig3 = 0; |
haarkon | 0:f00e68bef80c | 387 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 388 | } |
haarkon | 0:f00e68bef80c | 389 | |
haarkon | 0:f00e68bef80c | 390 | if (FlagUS1==1) { |
haarkon | 0:f00e68bef80c | 391 | Pc.printf ("\rUS 1 = %04d mm", (int)DistUS1); |
haarkon | 0:f00e68bef80c | 392 | FlagUS1 = 0; |
haarkon | 0:f00e68bef80c | 393 | } |
haarkon | 0:f00e68bef80c | 394 | |
haarkon | 0:f00e68bef80c | 395 | if (FlagUS2==1) { |
haarkon | 0:f00e68bef80c | 396 | Pc.printf ("\r\t\t\tUS 2 = %04d mm", (int)DistUS2); |
haarkon | 0:f00e68bef80c | 397 | FlagUS2 = 0; |
haarkon | 0:f00e68bef80c | 398 | } |
haarkon | 0:f00e68bef80c | 399 | |
haarkon | 0:f00e68bef80c | 400 | if (FlagUS3==1) { |
haarkon | 0:f00e68bef80c | 401 | Pc.printf ("\r\t\t\t\t\t\tUS 3 = %04d mm", (int)DistUS3); |
haarkon | 0:f00e68bef80c | 402 | FlagUS3 = 0; |
haarkon | 0:f00e68bef80c | 403 | } |
haarkon | 0:f00e68bef80c | 404 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 405 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 406 | break; |
haarkon | 0:f00e68bef80c | 407 | |
haarkon | 0:f00e68bef80c | 408 | case 2 : |
haarkon | 0:f00e68bef80c | 409 | Pc.printf ("\n\n\rBoussole\n"); |
haarkon | 0:f00e68bef80c | 410 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 411 | |
haarkon | 0:f00e68bef80c | 412 | Pc.printf ("\n\rVerif du bus I2C :"); |
haarkon | 0:f00e68bef80c | 413 | I2C_check = Bus_I2C.write (BOUSSOLE_adress,BOUSSOLE_status,1,false); |
haarkon | 0:f00e68bef80c | 414 | if (I2C_check==0) { |
haarkon | 0:f00e68bef80c | 415 | Pc.printf (" OK\n"); |
haarkon | 0:f00e68bef80c | 416 | Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); |
haarkon | 0:f00e68bef80c | 417 | Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); |
haarkon | 0:f00e68bef80c | 418 | Pc.printf ("\rVersion Firmware boussole : %03d\n", I2C_registerValue[0]); |
haarkon | 0:f00e68bef80c | 419 | } else { |
haarkon | 0:f00e68bef80c | 420 | Pc.printf (" FAIL\n"); |
haarkon | 0:f00e68bef80c | 421 | } |
haarkon | 0:f00e68bef80c | 422 | |
haarkon | 0:f00e68bef80c | 423 | periode = PWMB.period(); |
haarkon | 0:f00e68bef80c | 424 | Pc.printf ("\rVerif de la PWM :"); |
haarkon | 0:f00e68bef80c | 425 | if ((periode > 0.11) || (periode < 0.06)) { |
haarkon | 0:f00e68bef80c | 426 | Pc.printf (" FAIL\n\n"); |
haarkon | 0:f00e68bef80c | 427 | } else { |
haarkon | 0:f00e68bef80c | 428 | Pc.printf (" OK\n\n"); |
haarkon | 0:f00e68bef80c | 429 | BOUSSOLE_check = 0; |
haarkon | 0:f00e68bef80c | 430 | } |
haarkon | 0:f00e68bef80c | 431 | |
haarkon | 0:f00e68bef80c | 432 | do { |
haarkon | 0:f00e68bef80c | 433 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 434 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 435 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 436 | } |
haarkon | 0:f00e68bef80c | 437 | |
haarkon | 1:d95546f84105 | 438 | if (((Tick%150)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 439 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 440 | if (BOUSSOLE_check==0) { |
haarkon | 0:f00e68bef80c | 441 | CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10; |
haarkon | 1:d95546f84105 | 442 | Pc.printf ("\r PWM = %4.1lf", CAP_PWM); |
haarkon | 0:f00e68bef80c | 443 | } |
haarkon | 1:d95546f84105 | 444 | //if (I2C_check==0) { |
haarkon | 0:f00e68bef80c | 445 | Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true); |
haarkon | 0:f00e68bef80c | 446 | Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4); |
haarkon | 0:f00e68bef80c | 447 | CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0; |
haarkon | 1:d95546f84105 | 448 | Pc.printf ("\r\t\t I2C = %4.1lf", CAP_I2C); |
haarkon | 1:d95546f84105 | 449 | //} |
haarkon | 0:f00e68bef80c | 450 | } |
haarkon | 0:f00e68bef80c | 451 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 452 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 453 | break; |
haarkon | 0:f00e68bef80c | 454 | |
haarkon | 0:f00e68bef80c | 455 | case 3 : |
haarkon | 0:f00e68bef80c | 456 | Pc.printf ("\n\n\rGP2xx\n"); |
haarkon | 0:f00e68bef80c | 457 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 458 | do { |
haarkon | 0:f00e68bef80c | 459 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 460 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 461 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 462 | |
haarkon | 0:f00e68bef80c | 463 | SD1_val = SD1; |
haarkon | 0:f00e68bef80c | 464 | SD2_val = SD2; |
haarkon | 0:f00e68bef80c | 465 | LD1_val = LD1; |
haarkon | 0:f00e68bef80c | 466 | LD2_val = LD2; |
haarkon | 0:f00e68bef80c | 467 | |
haarkon | 0:f00e68bef80c | 468 | if (SD1_val < 0.06) { |
haarkon | 0:f00e68bef80c | 469 | SD1_val = 0; |
haarkon | 0:f00e68bef80c | 470 | SD1_dist = 40; |
haarkon | 0:f00e68bef80c | 471 | } else { |
haarkon | 0:f00e68bef80c | 472 | SD1_dist = 11.611/(SD1_val*3.3-0.0237); |
haarkon | 0:f00e68bef80c | 473 | if (SD1_dist > 40) SD1_dist = 40; |
haarkon | 0:f00e68bef80c | 474 | } |
haarkon | 0:f00e68bef80c | 475 | |
haarkon | 0:f00e68bef80c | 476 | if (SD2_val < 0.06) { |
haarkon | 0:f00e68bef80c | 477 | SD2_val = 0; |
haarkon | 0:f00e68bef80c | 478 | SD2_dist = 40; |
haarkon | 0:f00e68bef80c | 479 | } else { |
haarkon | 0:f00e68bef80c | 480 | SD2_dist = 11.611/(SD2_val*3.3-0.0237); |
haarkon | 0:f00e68bef80c | 481 | if (SD2_dist > 40) SD2_dist = 40; |
haarkon | 0:f00e68bef80c | 482 | } |
haarkon | 0:f00e68bef80c | 483 | |
haarkon | 0:f00e68bef80c | 484 | if (LD1_val < 0.1) { |
haarkon | 0:f00e68bef80c | 485 | LD1_val = 0; |
haarkon | 0:f00e68bef80c | 486 | LD1_dist = 150; |
haarkon | 0:f00e68bef80c | 487 | } else { |
haarkon | 0:f00e68bef80c | 488 | LD1_dist = 59.175/(LD1_val*3.3-0.0275); |
haarkon | 0:f00e68bef80c | 489 | if (LD1_dist > 150) LD1_dist = 150; |
haarkon | 0:f00e68bef80c | 490 | } |
haarkon | 0:f00e68bef80c | 491 | |
haarkon | 0:f00e68bef80c | 492 | if (LD2_val < 0.1) { |
haarkon | 0:f00e68bef80c | 493 | LD2_val = 0; |
haarkon | 0:f00e68bef80c | 494 | LD2_dist = 150; |
haarkon | 0:f00e68bef80c | 495 | } else { |
haarkon | 0:f00e68bef80c | 496 | LD2_dist = 59.175/(LD2_val*3.3-0.0275); |
haarkon | 0:f00e68bef80c | 497 | if (LD2_dist > 150) LD2_dist = 150; |
haarkon | 0:f00e68bef80c | 498 | } |
haarkon | 0:f00e68bef80c | 499 | |
haarkon | 0:f00e68bef80c | 500 | Pc.printf ("\r SD1 = %3.1lf cm - SD2 = %3.1lf cm - LD1 = %4.1lf cm - LD2 = %4.1lf cm", SD1_dist, SD2_dist, LD1_dist, LD2_dist); |
haarkon | 0:f00e68bef80c | 501 | } |
haarkon | 0:f00e68bef80c | 502 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 503 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 504 | break; |
haarkon | 0:f00e68bef80c | 505 | |
haarkon | 0:f00e68bef80c | 506 | case 4 : |
haarkon | 0:f00e68bef80c | 507 | Pc.printf ("\n\n\rCNY70\n"); |
haarkon | 0:f00e68bef80c | 508 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 509 | do { |
haarkon | 0:f00e68bef80c | 510 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 511 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 512 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 513 | |
haarkon | 0:f00e68bef80c | 514 | CNY1_val = CNY1; |
haarkon | 0:f00e68bef80c | 515 | CNY2_val = CNY2; |
haarkon | 0:f00e68bef80c | 516 | CNY3_val = CNY3; |
haarkon | 0:f00e68bef80c | 517 | |
haarkon | 0:f00e68bef80c | 518 | Pc.printf ("\r CNY1 = %3.2lf V\t CNY2 = %3.2lf V\t CNY3 = %3.2lf V", CNY1_val*3.3, CNY2_val*3.3, CNY3_val*3.3); |
haarkon | 0:f00e68bef80c | 519 | } |
haarkon | 0:f00e68bef80c | 520 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 521 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 522 | break; |
haarkon | 0:f00e68bef80c | 523 | |
haarkon | 0:f00e68bef80c | 524 | case 5 : |
haarkon | 0:f00e68bef80c | 525 | Pc.printf ("\n\n\rVbat\n"); |
haarkon | 0:f00e68bef80c | 526 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 527 | do { |
haarkon | 0:f00e68bef80c | 528 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 529 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 530 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 531 | |
haarkon | 0:f00e68bef80c | 532 | Vbat_val = Vbat; |
haarkon | 0:f00e68bef80c | 533 | Pc.printf ("\rVbat = %5.3lf V", Vbat_val*3.3*4.3); |
haarkon | 0:f00e68bef80c | 534 | } |
haarkon | 0:f00e68bef80c | 535 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 536 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 537 | break; |
haarkon | 0:f00e68bef80c | 538 | |
haarkon | 0:f00e68bef80c | 539 | case 6 : |
haarkon | 0:f00e68bef80c | 540 | Pc.printf ("\n\n\rMoteur Gauche\n"); |
haarkon | 0:f00e68bef80c | 541 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 542 | do { |
haarkon | 0:f00e68bef80c | 543 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 544 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 545 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 546 | } |
haarkon | 0:f00e68bef80c | 547 | |
haarkon | 0:f00e68bef80c | 548 | |
haarkon | 0:f00e68bef80c | 549 | |
haarkon | 0:f00e68bef80c | 550 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 551 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 552 | break; |
haarkon | 0:f00e68bef80c | 553 | |
haarkon | 0:f00e68bef80c | 554 | case 7 : |
haarkon | 0:f00e68bef80c | 555 | Pc.printf ("\n\n\rMoteur Droit\n"); |
haarkon | 0:f00e68bef80c | 556 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 557 | do { |
haarkon | 0:f00e68bef80c | 558 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 559 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 560 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 561 | wait (0.1); |
haarkon | 0:f00e68bef80c | 562 | } |
haarkon | 0:f00e68bef80c | 563 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 564 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 565 | break; |
haarkon | 0:f00e68bef80c | 566 | |
haarkon | 0:f00e68bef80c | 567 | case 8 : |
haarkon | 0:f00e68bef80c | 568 | Pc.printf ("\n\n\rServo Moteur\n"); |
haarkon | 0:f00e68bef80c | 569 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 570 | do { |
haarkon | 0:f00e68bef80c | 571 | if (FlagTickLed) { |
haarkon | 0:f00e68bef80c | 572 | Led1 = !Led1; |
haarkon | 0:f00e68bef80c | 573 | FlagTickLed = 0; |
haarkon | 0:f00e68bef80c | 574 | } |
haarkon | 0:f00e68bef80c | 575 | |
haarkon | 0:f00e68bef80c | 576 | if (((Tick%250)==0) && FlagTick) { |
haarkon | 0:f00e68bef80c | 577 | if (SERVO_dir == S_monte) { |
haarkon | 0:f00e68bef80c | 578 | if (SERVO_angle >= SERVO_angleMAX) { |
haarkon | 0:f00e68bef80c | 579 | SERVO_dir = S_descente; |
haarkon | 0:f00e68bef80c | 580 | SERVO_angle = SERVO_angleMAX; |
haarkon | 0:f00e68bef80c | 581 | } else { |
haarkon | 0:f00e68bef80c | 582 | SERVO_angle += 5; |
haarkon | 0:f00e68bef80c | 583 | } |
haarkon | 0:f00e68bef80c | 584 | } else { |
haarkon | 0:f00e68bef80c | 585 | if (SERVO_angle <= SERVO_angleMIN) { |
haarkon | 0:f00e68bef80c | 586 | SERVO_dir = S_monte; |
haarkon | 0:f00e68bef80c | 587 | SERVO_angle = SERVO_angleMIN; |
haarkon | 0:f00e68bef80c | 588 | } else { |
haarkon | 0:f00e68bef80c | 589 | SERVO_angle -= 5; |
haarkon | 0:f00e68bef80c | 590 | } |
haarkon | 0:f00e68bef80c | 591 | } |
haarkon | 0:f00e68bef80c | 592 | SERVO_pos = (lWord)(SERVO_angle*50/9) + 1000; |
haarkon | 0:f00e68bef80c | 593 | Servo.pulsewidth_us(SERVO_pos); |
haarkon | 0:f00e68bef80c | 594 | Pc.printf ("\rAngle = %4.1lf", SERVO_angle); |
haarkon | 0:f00e68bef80c | 595 | } |
haarkon | 0:f00e68bef80c | 596 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 597 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 598 | break; |
haarkon | 0:f00e68bef80c | 599 | |
haarkon | 0:f00e68bef80c | 600 | case 9 : |
haarkon | 0:f00e68bef80c | 601 | Pc.printf ("\n\n\rPixy\n"); |
haarkon | 0:f00e68bef80c | 602 | Pc.printf ("\rAppuyez sur Entree pour quitter\n"); |
haarkon | 0:f00e68bef80c | 603 | do { |
haarkon | 1:d95546f84105 | 604 | if (((Tick%50)==0) && FlagTick) { |
haarkon | 1:d95546f84105 | 605 | FlagTick = 0; |
haarkon | 0:f00e68bef80c | 606 | switch (phase) { |
haarkon | 0:f00e68bef80c | 607 | case 0 : |
haarkon | 0:f00e68bef80c | 608 | PIXY_red += 5; |
haarkon | 1:d95546f84105 | 609 | if (PIXY_red == 255) { |
haarkon | 1:d95546f84105 | 610 | phase = 1; |
haarkon | 1:d95546f84105 | 611 | //Pc.printf ("\rPhase 1"); |
haarkon | 1:d95546f84105 | 612 | } |
haarkon | 0:f00e68bef80c | 613 | break; |
haarkon | 0:f00e68bef80c | 614 | case 1 : |
haarkon | 0:f00e68bef80c | 615 | PIXY_green += 5; |
haarkon | 1:d95546f84105 | 616 | if (PIXY_green == 255) { |
haarkon | 1:d95546f84105 | 617 | phase = 2; |
haarkon | 1:d95546f84105 | 618 | //Pc.printf ("\rPhase 2"); |
haarkon | 1:d95546f84105 | 619 | } |
haarkon | 0:f00e68bef80c | 620 | break; |
haarkon | 0:f00e68bef80c | 621 | case 2 : |
haarkon | 0:f00e68bef80c | 622 | PIXY_red -= 5; |
haarkon | 1:d95546f84105 | 623 | if (PIXY_red == 0) { |
haarkon | 1:d95546f84105 | 624 | phase = 3; |
haarkon | 1:d95546f84105 | 625 | //Pc.printf ("\rPhase 3"); |
haarkon | 1:d95546f84105 | 626 | } |
haarkon | 0:f00e68bef80c | 627 | break; |
haarkon | 0:f00e68bef80c | 628 | case 3 : |
haarkon | 0:f00e68bef80c | 629 | PIXY_blue += 5; |
haarkon | 1:d95546f84105 | 630 | if (PIXY_blue == 255) { |
haarkon | 1:d95546f84105 | 631 | phase = 4; |
haarkon | 1:d95546f84105 | 632 | //Pc.printf ("\rPhase 4"); |
haarkon | 1:d95546f84105 | 633 | } |
haarkon | 0:f00e68bef80c | 634 | break; |
haarkon | 0:f00e68bef80c | 635 | case 4 : |
haarkon | 0:f00e68bef80c | 636 | PIXY_green -= 5; |
haarkon | 1:d95546f84105 | 637 | if (PIXY_green == 0) { |
haarkon | 1:d95546f84105 | 638 | phase = 5; |
haarkon | 1:d95546f84105 | 639 | //Pc.printf ("\rPhase 5"); |
haarkon | 1:d95546f84105 | 640 | } |
haarkon | 0:f00e68bef80c | 641 | break; |
haarkon | 0:f00e68bef80c | 642 | case 5 : |
haarkon | 0:f00e68bef80c | 643 | PIXY_red += 5; |
haarkon | 1:d95546f84105 | 644 | if (PIXY_red == 255) { |
haarkon | 1:d95546f84105 | 645 | phase = 6; |
haarkon | 1:d95546f84105 | 646 | //Pc.printf ("\rPhase 6"); |
haarkon | 1:d95546f84105 | 647 | } |
haarkon | 0:f00e68bef80c | 648 | break; |
haarkon | 0:f00e68bef80c | 649 | case 6 : |
haarkon | 0:f00e68bef80c | 650 | PIXY_green += 5; |
haarkon | 1:d95546f84105 | 651 | if (PIXY_green == 255) { |
haarkon | 1:d95546f84105 | 652 | phase = 7; |
haarkon | 1:d95546f84105 | 653 | //Pc.printf ("\rPhase 7"); |
haarkon | 1:d95546f84105 | 654 | } |
haarkon | 0:f00e68bef80c | 655 | break; |
haarkon | 0:f00e68bef80c | 656 | case 7 : |
haarkon | 0:f00e68bef80c | 657 | PIXY_red -= 5; |
haarkon | 0:f00e68bef80c | 658 | PIXY_green -= 5; |
haarkon | 1:d95546f84105 | 659 | PIXY_blue -=5; |
haarkon | 1:d95546f84105 | 660 | if (PIXY_red == 0) { |
haarkon | 1:d95546f84105 | 661 | phase = 0; |
haarkon | 1:d95546f84105 | 662 | //Pc.printf ("\rPhase 0"); |
haarkon | 1:d95546f84105 | 663 | } |
haarkon | 0:f00e68bef80c | 664 | break; |
haarkon | 0:f00e68bef80c | 665 | } |
haarkon | 0:f00e68bef80c | 666 | Pixy.putc(0); |
haarkon | 1:d95546f84105 | 667 | Pixy.putc(0xFD); |
haarkon | 0:f00e68bef80c | 668 | Pixy.putc(PIXY_red); |
haarkon | 0:f00e68bef80c | 669 | Pixy.putc(PIXY_green); |
haarkon | 0:f00e68bef80c | 670 | Pixy.putc(PIXY_blue); |
haarkon | 0:f00e68bef80c | 671 | |
haarkon | 1:d95546f84105 | 672 | while (Pixy_nbObjet) { |
haarkon | 1:d95546f84105 | 673 | Pc.printf ("\r%5hd = %5hd,%5hd : %5hdx%5hd", Pixy_FIFO[Pixy_rObjet].CCbloc.signature, Pixy_FIFO[Pixy_rObjet].CCbloc.x, Pixy_FIFO[Pixy_rObjet].CCbloc.y, Pixy_FIFO[Pixy_rObjet].CCbloc.width, Pixy_FIFO[Pixy_rObjet].CCbloc.height); |
haarkon | 1:d95546f84105 | 674 | |
haarkon | 1:d95546f84105 | 675 | if (Pixy_nbObjet>1) Pc.printf("\n"); |
haarkon | 1:d95546f84105 | 676 | |
haarkon | 1:d95546f84105 | 677 | if (Pixy_rObjet<19) Pixy_rObjet++; |
haarkon | 1:d95546f84105 | 678 | else Pixy_rObjet = 0; |
haarkon | 1:d95546f84105 | 679 | |
haarkon | 1:d95546f84105 | 680 | Pixy_nbObjet--; |
haarkon | 1:d95546f84105 | 681 | } |
haarkon | 1:d95546f84105 | 682 | FlagPixy = 0; |
haarkon | 0:f00e68bef80c | 683 | } |
haarkon | 1:d95546f84105 | 684 | |
haarkon | 1:d95546f84105 | 685 | if (FlagTickLed) { |
haarkon | 1:d95546f84105 | 686 | Led1 = !Led1; |
haarkon | 1:d95546f84105 | 687 | FlagTickLed = 0; |
haarkon | 1:d95546f84105 | 688 | } |
haarkon | 0:f00e68bef80c | 689 | } while(!Pc.readable()); |
haarkon | 0:f00e68bef80c | 690 | MENU_choix = Pc.getc(); |
haarkon | 0:f00e68bef80c | 691 | break; |
haarkon | 0:f00e68bef80c | 692 | |
haarkon | 0:f00e68bef80c | 693 | } |
haarkon | 0:f00e68bef80c | 694 | } |
haarkon | 0:f00e68bef80c | 695 | } |