Revision 0:f00e68bef80c, committed 2017-05-27

Comitter:

haarkon

Date:

Sat May 27 15:15:41 2017 +0000

Child:

1:d95546f84105

Commit message:

First draft of Test board program

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Encoder_Nucleo_16_bits.lib	Sat May 27 15:15:41 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/kkoichy/code/Encoder_Nucleo_16_bits/#e82009479b5c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PwmIn.lib	Sat May 27 15:15:41 2017 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/simon/code/PwmIn/#6d68eb9b6bbb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat May 27 15:15:41 2017 +0000
@@ -0,0 +1,686 @@
+/** Main Test Board
+ *
+ *   \brief Programme de tests pour le robot NCR 2017
+ *   \author H. Angelis
+ *   \version alpha_1
+ *   \date 15/05/17
+ *
+ */
+
+#include "mbed.h"
+#include "PwmIn.h"
+#include "Nucleo_Encoder_16_bits.h"
+
+#define BOUSSOLE_adress  0xC0
+
+typedef unsigned char   Byte;
+typedef unsigned short  Word;
+typedef unsigned long   lWord;
+
+typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR;
+
+typedef union {
+    lWord   header;
+    Byte    tab[4];
+} T_tmpbuffer;
+
+typedef struct {
+    Word    checksum;
+    Word    signature;
+    Word    x;
+    Word    y;
+    Word    width;
+    Word    height;
+    Word    angle; // angle is only available for color coded blocks
+} T_pixyCCBloc;
+
+
+typedef union {
+    Byte            tab[14];
+    T_pixyCCBloc    CCbloc;
+} T_pixyData;
+
+
+/** Liste des objets
+ *
+ *  Serial #4   Pixy
+ *  Serial #2   Pc
+ *
+ *  AnalogIn    C1, C2, C3, LD1, LD2, SD1, SD2, Vbat
+ *
+ *  DigitalOut  Led1, Led2, Trig1, Trig2, Trig3, En, SensG, SensD
+ *
+ *  InterruptIn IndexG, IndexD, Echo1, Echo2, Echo3, BP
+ *
+ *  PwmOut      Pwm_MG, Pwm_MD, Servo
+ *
+ *  PwmIn       PWMG, PWMD, PWMB
+ *
+ *  I2C         Bus_I2C
+ *
+ *  SPI         MotG, MotD
+ *
+ *  Nucleo_Encoder_16_bits  Gauche, Droite
+ *
+ *  Ticker      timer
+ */
+
+/** Liste des PINs
+ *
+ * PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée
+ * PA_0    -> Pixy RX (Serial)
+ * PA_1    -> Pixy TX (Serial)
+ * PA_2    -> PC TX (Serial)
+ * PA_3    -> PX RX (Serial)
+ * PA_4    -> GP2 SD #2 (Analog In)
+ * PA_5    -> LED1 (Digital Out)
+ * PA_6    -> CNY3 (Analog In)
+ * PA_7    -> CNY2 (Analog In)
+ * PA_8    -> Servomoteur (PWM Out)
+ * PA_9    -> US Trigger #3 (Digital Out)
+ * PA_10   -> I (Encodeur Droit) (IRQ In)
+ * PA_11   -> US Echo #2 (Pwm In)
+ * PA_12   -> US Echo #1 (Pwm In)
+ * PA_13
+ * PA_14
+ * PA_15   -> Boussole (Pwm In)
+ *
+ * PB_0    -> GP2 SD #1 (Analog In)
+ * PB_1    -> Position D (Pwm In)
+ * PB_2    -> Position G (Pwm In)
+ * PB_3    -> PWM Mot D (PWM Out)
+ * PB_4    -> Enocdeur Droit A (QE)
+ * PB_5    -> Enocdeur Droit B (QE)
+ * PB_6    -> Enocdeur Gauche A (QE)
+ * PB_7    -> Enocdeur Gauche B (QE)
+ * PB_8    -> SCL (I2C)
+ * PB_9    -> SDA (I2C)
+ * PB_10   -> PWM Mot G (PWM Out)
+ * PB_11
+ * PB_12   -> US Echo #3 (Pwm In)
+ * PB_13   -> SCK Encodeur D (SPI)
+ * PB_14   -> MISO Encodeur D (SPI)
+ * PB_15   -> MOSI Encodeur D (SPI)
+ *
+ * PC_0    -> GP2 LD #1 (Analog In)
+ * PC_1    -> GP2 LD #2 (Analog In)
+ * PC_2    -> US Trigger #2 (Digital Out)
+ * PC_3    -> US Trigger #1 (Digital Out)
+ * PC_4    -> CNY1 (Analog In)
+ * PC_5    -> Vbat (Analog In)
+ * PC_6    -> Dir Mot Droit (Digital Out)
+ * PC_7    -> I (Encodeur Gauche) (IRQ In)
+ * PC_8    -> Dir Mot Gauche (Digital Out)
+ * PC_9    -> Enable Moteurs (Digital Out)
+ * PC_10   -> SCK Encodeur G (SPI)
+ * PC_11   -> MISO Encodeur G (SPI)
+ * PC_12   -> MOSI Encodeur G (SPI)
+ * PC_13   -> User BP (IRQ In)
+ * PC_14
+ * PC_15
+ *
+ * PD_1
+ * PD_2    -> Led2 (Digital Out)
+ */
+
+Serial      Pixy    (PA_0, PA_1, 115200);
+Serial      Pc      (PA_2, PA_3, 460800);
+
+AnalogIn    CNY1    (PC_4);
+AnalogIn    CNY2    (PA_7);
+AnalogIn    CNY3    (PA_6);
+AnalogIn    LD1     (PC_0);
+AnalogIn    LD2     (PC_1);
+AnalogIn    SD1     (PB_0);
+AnalogIn    SD2     (PA_4);
+AnalogIn    Vbat    (PC_5);
+
+DigitalOut  Led1    (PA_5);
+DigitalOut  Led2    (PD_2);
+DigitalOut  Trig1   (PC_3);
+DigitalOut  Trig2   (PC_2);
+DigitalOut  Trig3   (PA_9);
+DigitalOut  En      (PC_9);
+DigitalOut  SensG   (PC_8);
+DigitalOut  SensD   (PC_6);
+
+InterruptIn Echo1   (PA_12);
+InterruptIn Echo2   (PA_11);
+InterruptIn Echo3   (PB_12);
+InterruptIn BP      (PC_13);
+InterruptIn IG      (PC_7);
+InterruptIn ID      (PA_10);
+
+PwmOut      Pwm_MG  (PB_10);
+PwmOut      Pwm_MD  (PB_3);
+PwmOut      Servo   (PA_8);
+
+PwmIn       PWMG    (PB_2);
+PwmIn       PWMD    (PB_1);
+PwmIn       PWMB    (PA_15);
+
+I2C         Bus_I2C (PB_9, PB_8);
+
+SPI         MotG    (PC_12, PC_11, PC_10);
+SPI         MotD    (PB_15, PB_14, PB_13);
+
+Nucleo_Encoder_16_bits  Gauche (TIM4);  // A = PB_6, B = PB_7
+Nucleo_Encoder_16_bits  Droite (TIM3);  // A = PB_4, B = PB_5
+
+Ticker      timer;
+Timer       temps;
+
+/** Liste des variables globales
+ *
+ *  Tick        -> (long)   Compte le nombre de MS écoulé et déclenche l'exécution de la boucle en fonction du temps écoulé.
+ *  FlagIG      -> (int)    Indication de la présence de fronts sur l'index de l'encodeur de la roue gauche
+ *  FlagID      -> (int)    Indication de la présence de fronts sur l'index de l'encodeur de la roue droite
+ *  EchoXStart  -> (long)   Donne le temps en µs de début de l'impulsion d'écho de l'US n°X
+ *  DistUSX     -> (float)  Donne la distance en mm mesurée par l'US n°X
+ */
+
+// Structure de temps
+lWord       Tick = 0;
+
+// Sémaphore d'interruption
+int         FlagUS1 = 0, FlagUS2 = 0, FlagUS3 = 0, FlagPixy = 0, FlagPixyOverflow = 0;
+int         FlagTick = 0, FlagTickLed = 0, BPPressed = 0;
+
+//  Dialogue avec la Pixy
+T_pixyData  Pixy_FIFO[20];
+Byte        Pixy_nbObjet = 0, Pixy_wObjet = 0, pixy_rObjet = 0;
+
+// Gestion des capteurs Ultrason
+long        Echo1Start, Echo2Start, Echo3Start;
+double      DistUS1, DistUS2, DistUS3;
+
+/** Liste des interruptions
+ *
+ */
+
+void tickTime()
+{
+    Tick++;
+    FlagTick = 1;
+    if ((Tick%100)==0)  FlagTickLed = 1;
+}
+
+void BPevent ()
+{
+    BPPressed = 1;
+}
+
+void echo1Rise ()
+{
+    Echo1Start = temps.read_us();
+}
+
+void echo2Rise ()
+{
+    Echo2Start = temps.read_us();
+    Led2 = !Led2;
+}
+
+void echo3Rise ()
+{
+    Echo3Start = temps.read_us();
+}
+
+void echo1Fall ()
+{
+    DistUS1 = (double)(temps.read_us() - Echo1Start)/5.8;
+    FlagUS1 = 1;
+}
+
+void echo2Fall ()
+{
+    DistUS2 = (double)(temps.read_us() - Echo2Start)/5.8;
+    FlagUS2 = 1;
+}
+
+void echo3Fall ()
+{
+    DistUS3 = (double)(temps.read_us() - Echo3Start)/5.8;
+    FlagUS3 = 1;
+}
+
+void getPixyByte ()
+{
+
+    static T_tmpbuffer  tmpBuffer;
+    static Byte         bytecount = 0;
+    static int          Pixy_synced = 0;
+    int i;
+
+    if (!Pixy_synced) {                                                     // On n'a pas trouvé le départ (0x55aa55aa ou 0x55aa56aa)
+        tmpBuffer.tab[bytecount] = Pixy.getc();                             // On stocke l'octet reçu dans la première case dispo du tableau temporaire
+        if (bytecount < 3) {                                                // Si on n'a pas encore reçu les 4 premier octets
+            bytecount++;                                                    // On passe à la case suivante du tableau temporaire
+        } else {                                                            // Si on a 4 octets de données
+            if (tmpBuffer.header == 0x55aa56aa) {                           // Si on a un Color Code Bloc
+                if (Pixy_wObjet < 19)   Pixy_wObjet++;                      // On incrémente le pointeur d'écriture dans la FIFO Objet
+                else                    Pixy_wObjet = 0;
+                Pixy_nbObjet++;                                             // On dit que l'on a un objet de plus
+                if (Pixy_nbObjet >= 20) FlagPixyOverflow = 1;               // Si on a plus de 20 objets (en attente) => Overflow
+                Pixy_synced = 1;                                            // Et on peut dire que l'on a synchronisé la Pixy
+                bytecount = 0;
+            } else {                                                        // Si on n'a pas vu le header d'un Color Code Bloc
+                for (i=1; i<4; i++) tmpBuffer.tab[i-1] = tmpBuffer.tab[i];  // On décalle les cases du tableau
+            }
+        }
+    } else {                                                                // La Pixy est synchronisée
+        Pixy_FIFO[Pixy_wObjet].tab[bytecount] = Pixy.getc();                // On stocke les octets un à un dans la structure CCBloc
+        if (bytecount < 14) bytecount++;                                    // tant que la structure n'est pas pleine
+        else {                                                              // Quand elle est pleine
+            bytecount = 0;                                                  // On réinitialise
+            Pixy_synced = 0;
+            FlagPixy = 1;                                                   // Et on signale au main qu'un objet est pret à être analysé.
+        }
+    }
+}
+
+int main()
+{
+
+    int         I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, PIXY_check = -1, MOTG_check = -1, MOTD_check = -1*/;
+    int         phase = 0;
+
+    double      SERVO_angle = 0, SERVO_angleMAX = 180, SERVO_angleMIN = 0;
+    Word        SERVO_pos;
+    T_SERVODIR  SERVO_dir = S_monte;
+
+    Byte        PIXY_red = 0, PIXY_green = 0, PIXY_blue = 0;
+    char        MENU_choix = 0;
+
+    char        BOUSSOLE_status[1] = {0}/*, BOUSSOLE_bearingWord[1] = {2}*/;
+    char        I2C_registerValue[4];
+
+    double      CAP_I2C, CAP_PWM;
+    double      SD1_val, SD2_val, LD1_val, LD2_val, CNY1_val, CNY2_val, CNY3_val, Vbat_val;
+    double      SD1_dist, SD2_dist, LD1_dist, LD2_dist;
+    double      periode;
+
+    temps.reset();
+    temps.start();
+
+
+    timer.attach(&tickTime, 0.001);
+
+    Bus_I2C.frequency (100000);
+
+    BP.rise (&BPevent);
+
+    Echo1.rise (&echo1Rise);
+    Echo2.rise (&echo2Rise);
+    Echo3.rise (&echo3Rise);
+    Echo1.fall (&echo1Fall);
+    Echo2.fall (&echo2Fall);
+    Echo3.fall (&echo3Fall);
+
+    IG.enable_irq();
+    ID.enable_irq();
+    Echo1.enable_irq();
+    Echo2.enable_irq();
+    Echo3.enable_irq();
+
+    Pixy.attach (&getPixyByte);
+
+    Pwm_MG.period_us(50);
+    Pwm_MD.period_us(50);
+    Pwm_MG = 0;
+    Pwm_MD = 0;
+    En = 0;
+    SensG = 0;
+    SensD = 0;
+    Led2 = 0;
+
+    Servo.period_ms(20);
+
+    while(1) {
+
+        do {
+            Led1 = 0;
+            Pc.printf ("\n\n\n\n\rProgramme de test\n\n\rEntrez le code du test a effectuer :\n\n");
+            Pc.printf ("\r1- Capteurs Ultra Son (les 3)\n");
+            Pc.printf ("\r2- Boussole et I2C\n");
+            Pc.printf ("\r3- Capteurs GP2 (les 4)\n");
+            Pc.printf ("\r4- Capteurs CNY70 (les 3)\n");
+            Pc.printf ("\r5- VBAT\n");
+            Pc.printf ("\r6- Moteur Gauche -- NON CODE\n");
+            Pc.printf ("\r7- Moteur Droit -- NON CODE\n");
+            Pc.printf ("\r8- Servomoteur\n");
+            Pc.printf ("\r9- Test de la PIXY\n\r");
+            MENU_choix = Pc.getc ();
+        } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>9));
+
+        switch (MENU_choix-'0') {
+
+            case 1 :
+                Pc.printf ("\n\n\rTest des captreurs Ultrason\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+                    }
+
+                    // Gestion des US
+                    if (((Tick%150)==0) && FlagTick) {
+                        Trig1 = 1;
+                        wait_us(20);
+                        Trig1 = 0;
+                        FlagTick = 0;
+                    }
+
+                    if (((Tick%150)==50) && FlagTick) {
+                        Trig2 = 1;
+                        wait_us(20);
+                        Trig2 = 0;
+                        FlagTick = 0;
+                    }
+
+                    if (((Tick%150)==100) && FlagTick) {
+                        Trig3 = 1;
+                        wait_us(20);
+                        Trig3 = 0;
+                        FlagTick = 0;
+                    }
+
+                    if (FlagUS1==1) {
+                        Pc.printf ("\rUS 1 = %04d mm", (int)DistUS1);
+                        FlagUS1 = 0;
+                    }
+
+                    if (FlagUS2==1) {
+                        Pc.printf ("\r\t\t\tUS 2 = %04d mm", (int)DistUS2);
+                        FlagUS2 = 0;
+                    }
+
+                    if (FlagUS3==1) {
+                        Pc.printf ("\r\t\t\t\t\t\tUS 3 = %04d mm", (int)DistUS3);
+                        FlagUS3 = 0;
+                    }
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 2 :
+                Pc.printf ("\n\n\rBoussole\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+
+                Pc.printf ("\n\rVerif du bus I2C :");
+                I2C_check = Bus_I2C.write (BOUSSOLE_adress,BOUSSOLE_status,1,false);
+                if (I2C_check==0) {
+                    Pc.printf (" OK\n");
+                    Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true);
+                    Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4);
+                    Pc.printf ("\rVersion Firmware boussole : %03d\n", I2C_registerValue[0]);
+                } else {
+                    Pc.printf (" FAIL\n");
+                }
+
+                periode = PWMB.period();
+                Pc.printf ("\rVerif de la PWM :");
+                if ((periode > 0.11) || (periode < 0.06)) {
+                    Pc.printf (" FAIL\n\n");
+                } else {
+                    Pc.printf (" OK\n\n");
+                    BOUSSOLE_check = 0;
+                }
+
+                do {
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+                    }
+
+                    if (((Tick%150)==0)&& FlagTick) {
+                        FlagTick = 0;
+                        if (BOUSSOLE_check==0) {
+                            CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10;
+                            Pc.printf ("\r PWM = %4.1lf\t", CAP_PWM);
+                        }
+                        if (I2C_check==0) {
+                            Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true);
+                            Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4);
+                            CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0;
+                            Pc.printf ("\t I2C = %4.1lf\r", CAP_I2C);
+                        }
+                    }
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 3 :
+                Pc.printf ("\n\n\rGP2xx\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+
+                        SD1_val = SD1;
+                        SD2_val = SD2;
+                        LD1_val = LD1;
+                        LD2_val = LD2;
+
+                        if (SD1_val < 0.06) {
+                            SD1_val = 0;
+                            SD1_dist = 40;
+                        } else {
+                            SD1_dist = 11.611/(SD1_val*3.3-0.0237);
+                            if (SD1_dist > 40) SD1_dist = 40;
+                        }
+
+                        if (SD2_val < 0.06) {
+                            SD2_val = 0;
+                            SD2_dist = 40;
+                        } else {
+                            SD2_dist = 11.611/(SD2_val*3.3-0.0237);
+                            if (SD2_dist > 40) SD2_dist = 40;
+                        }
+
+                        if (LD1_val < 0.1) {
+                            LD1_val = 0;
+                            LD1_dist = 150;
+                        } else {
+                            LD1_dist = 59.175/(LD1_val*3.3-0.0275);
+                            if (LD1_dist > 150) LD1_dist = 150;
+                        }
+
+                        if (LD2_val < 0.1) {
+                            LD2_val = 0;
+                            LD2_dist = 150;
+                        } else {
+                            LD2_dist = 59.175/(LD2_val*3.3-0.0275);
+                            if (LD2_dist > 150) LD2_dist = 150;
+                        }
+
+                        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);
+                    }
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 4 :
+                Pc.printf ("\n\n\rCNY70\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+
+                        CNY1_val = CNY1;
+                        CNY2_val = CNY2;
+                        CNY3_val = CNY3;
+
+                        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);
+                    }
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 5 :
+                Pc.printf ("\n\n\rVbat\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+
+                        Vbat_val = Vbat;
+                        Pc.printf ("\rVbat = %5.3lf V", Vbat_val*3.3*4.3);
+                    }
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 6 :
+                Pc.printf ("\n\n\rMoteur Gauche\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+                    }
+                    
+                    
+
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 7 :
+                Pc.printf ("\n\n\rMoteur Droit\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+                        wait (0.1);
+                    }
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 8 :
+                Pc.printf ("\n\n\rServo Moteur\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+                    if (FlagTickLed) {
+                        Led1 = !Led1;
+                        FlagTickLed = 0;
+                    }
+
+                    if (((Tick%250)==0) && FlagTick) {
+                        if (SERVO_dir == S_monte) {
+                            if (SERVO_angle >= SERVO_angleMAX) {
+                                SERVO_dir = S_descente;
+                                SERVO_angle = SERVO_angleMAX;
+                            } else {
+                                SERVO_angle += 5;
+                            }
+                        } else {
+                            if (SERVO_angle <= SERVO_angleMIN) {
+                                SERVO_dir = S_monte;
+                                SERVO_angle = SERVO_angleMIN;
+                            } else {
+                                SERVO_angle -= 5;
+                            }
+                        }
+                        SERVO_pos = (lWord)(SERVO_angle*50/9) + 1000;
+                        Servo.pulsewidth_us(SERVO_pos);
+                        Pc.printf ("\rAngle = %4.1lf", SERVO_angle);
+                    }
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+            case 9 :
+                Pc.printf ("\n\n\rPixy\n");
+                Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+                do {
+                    if ((Tick%2)==0) {
+                        switch (phase) {
+                            case 0 :
+                                PIXY_red += 5;
+                                if (PIXY_red == 255) phase = 1;
+                                break;
+                            case 1 :
+                                PIXY_green += 5;
+                                if (PIXY_green == 255) phase = 2;
+                                break;
+                            case 2 :
+                                PIXY_red -= 5;
+                                if (PIXY_red == 0) phase = 3;
+                                break;
+                            case 3 :
+                                PIXY_blue += 5;
+                                if (PIXY_blue == 255) phase = 4;
+                                break;
+                            case 4 :
+                                PIXY_green -= 5;
+                                if (PIXY_green == 0) phase = 5;
+                                break;
+                            case 5 :
+                                PIXY_red += 5;
+                                if (PIXY_red == 255) phase = 6;
+                                break;
+                            case 6 :
+                                PIXY_green += 5;
+                                if (PIXY_green == 255) phase = 7;
+                                break;
+                            case 7 :
+                                PIXY_red -= 5;
+                                if (PIXY_red == 0) phase = 8;
+                                break;
+                            case 8 :
+                                PIXY_green -= 5;
+                                if (PIXY_green == 0) phase = 9;
+                                break;
+                            case 9 :
+                                PIXY_red += 5;
+                                if (PIXY_red == 255) phase = 10;
+                                break;
+                            case 10 :
+                                PIXY_blue -= 5;
+                                if (PIXY_blue == 0) phase = 11;
+                                break;
+                            case 11 :
+                                PIXY_green += 5;
+                                if (PIXY_green == 255) phase = 12;
+                                break;
+                            case 12 :
+                                PIXY_green += 5;
+                                if (PIXY_green == 255) phase = 13;
+                                break;
+                            case 13 :
+                                PIXY_red -= 5;
+                                if (PIXY_red == 0) phase = 14;
+                                break;
+                            case 14 :
+                                PIXY_green -= 5;
+                                if (PIXY_green == 0) phase = 0;
+                                break;
+                        }
+                        Pixy.putc(0);
+                        Pixy.putc(0xFF);
+                        Pixy.putc(PIXY_red);
+                        Pixy.putc(PIXY_green);
+                        Pixy.putc(PIXY_blue);
+
+                        if ((Tick%50)==0) {
+                            Pc.printf ("\r Nombre d'objets detecte = %d",Pixy_nbObjet);
+                            FlagPixy = 0;
+                            Pixy_nbObjet = 0;
+                        }
+                    }
+                    if ((Tick%100)==0) Led1 = !Led1;
+                } while(!Pc.readable());
+                MENU_choix = Pc.getc();
+                break;
+
+        }
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat May 27 15:15:41 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/4eea097334d6
\ No newline at end of file