Moteurs
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
Fork of Automate by
Diff: main.cpp
- Revision:
- 9:168226ff8f76
- Parent:
- 8:ad8b64ca548d
--- a/main.cpp Fri Jun 09 17:06:05 2017 +0000 +++ b/main.cpp Fri Jun 09 19:38:56 2017 +0000 @@ -12,7 +12,6 @@ int main() { - int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, MOTG_check = -1, MOTD_check = -1*/; Byte PIXY_rCCObjet = 0, PIXY_rNMObjet = 0; @@ -31,15 +30,19 @@ double CNY1_val, CNY2_val, CNY3_val, Vbat_val; double SD2_dist, LD2_dist; - int MOTG_evol = 1, MOTD_evol = 1; - double MOTG_duty = 0.5, MOTD_duty = 0.5; - //Variables Automate int etat_actuel = 0, etat_futur = 0, etat_precedent = 0; //Need etat_precedent ? //Variables test capteurs int ball_found = 0, ball_forward = 0, ball_captured = 0, face_ennemy_side = 0, face_our_side = 0; int wall = 0, white_line_crossed = 0, return_done = 0, rotation_done; //Rename white_line_crossed + + //Variables moteurs + + int md_pwm = 0; + int mg_pwm = 0; + int md_sens = 0; + int mg_sens = 0; //Variables @@ -97,12 +100,48 @@ Servo.period_ms (20); Servo.pulsewidth_us(200); - while(1) { - + //Moteurs + En = 1; + + while(1) { + int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, MOTG_check = -1, MOTD_check = -1*/; + + Byte PIXY_rCCObjet = 0, PIXY_rNMObjet = 0; + int PIXY_objet; + + int SERVO_pulseWidth = 400, SERVO_max = 1400, SERVO_min = 400; + T_SERVODIR SERVO_dir = S_monte; + + char MENU_choix = 0; + + char BOUSSOLE_status[1] = {0}; + char I2C_registerValue[4]; + double BOUSSOLE_periode; + + 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; + + //capteurs_read(); //Lecture tous les capteurs CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10; - Pc.printf ("\r PWM = %4.1lf", CAP_PWM); + //capteurs_test(); //Teste les valeurs des capteurs et change des variables booleenne + face_ennemy_side = (((int)CAP_PWM > (orientation_camp_adversaire - 10))&((int)CAP_PWM < (orientation_camp_adversaire + 10))); + + //Actions moteurs + Pwm_MD = md_pwm; + Pwm_MG = mg_pwm; + SensD = md_sens; + SensG = mg_sens; + + //Test + + motor_command(100, 100, *mg_pwm, *md_pwm, *mg_sens, *md_sens); + + //Action cage + + //Automate etat_actuel = etat_futur; switch(etat_actuel) {