Revision 1:32df7d7d355d, committed 2021-03-26

Comitter:

Davdav

Date:

Fri Mar 26 15:50:42 2021 +0000

Parent:

0:6f23e23056ac

Commit message:

a

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/hcsr04.lib	Fri Mar 26 15:50:42 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/lavioros/code/hcsr04/#4947ffc8c310

--- a/main.cpp	Thu Feb 13 15:25:18 2020 +0000
+++ b/main.cpp	Fri Mar 26 15:50:42 2021 +0000
@@ -1,40 +1,85 @@
 #include "mbed.h"
+#include "hcsr04.h"
  
-#define     MOT_A_IN_1      D9
-#define     MOT_A_IN_2      D8
-#define     MOT_A_PWM       D6
+#define     MOT_A_IN_1      D3
+#define     MOT_A_IN_2      D4
+#define     MOT_A_PWM       D5
  
-#define     MOT_B_IN_1      D11
-#define     MOT_B_IN_2      D10
-#define     MOT_B_PWM       D5
+#define     MOT_B_IN_1      D9
+#define     MOT_B_IN_2      D7
+#define     MOT_B_PWM       D6
+ 
+#define     STBY            D2
  
-#define     STBY            D12
- 
-#define     ECHO            D14
-#define     TRIGGER         D15
+#define     ECHO            D11
+#define     TRIGGER         D12
  
-#define     LINE_LEFT       D4
-#define     LINE_RIGHT      D3
+#define     LINE_LEFT       D14
+#define     LINE_RIGHT      D15
+
+#define EPSILON 50
 
-PwmOut speedA(MOT_A_PWM); // porke pwmout ?
-PwmOut speedB(MOT_B_PWM); // porke pwmout ?
- 
+PwmOut speedA(MOT_A_PWM);
+PwmOut speedB(MOT_B_PWM);
+
+//DigitalOut myled(LED1);
+HCSR04 sonar(TRIGGER, ECHO);
+Serial pc(USBTX, USBRX);
+
 DigitalOut inA1(MOT_A_IN_1);
 DigitalOut inA2(MOT_A_IN_2);
 DigitalOut inB1(MOT_B_IN_1);
 DigitalOut inB2(MOT_B_IN_2);
- 
+
 DigitalOut stby(STBY);
- 
-DigitalIn lineL(LINE_LEFT); // ?
+
+DigitalIn lineL(LINE_LEFT); // ?+
 DigitalIn lineR(LINE_RIGHT); // ?
+
+// ajout du 
  
 void testMotors();
-void testLineSensors();
+void testLineSensorsCustom();
+void DetectThing();
  
 int main() {
+    //pc.baud(9600);
+    //pc.printf("Hello World");
     //testMotors();
-    testLineSensors();
+    //testLineSensorsCustom();
+    //DetectThing();
+    
+    // Choix de la direction des moteurs, le robot avance.
+    /*
+    inA1 = 0;
+    inA2 = 1;
+    inB1 = 1;
+    inB2 = 0;*/
+    //DetectThing();
+   
+    // Choix de la vitesse de rotation des moteurs.
+    //speedA = 0.3; // Moteur gauche
+    //speedB = 0.3; // Moteur droit
+    // vpourcentage par rapport à la vitesse max
+   testMotors();
+    // On active les moteurs
+    //stby = 1;
+    
+}
+
+void DetectThing()
+{
+    double dist;
+    
+    while (1)
+    {
+        sonar.start();
+        dist = sonar.get_dist_cm();
+        
+        pc.printf("distance : %f\r\n", dist);
+        //wait(0.2);
+    }
+ 
 }
  
 void testMotors()
@@ -46,55 +91,58 @@
     inB2 = 0;
    
     // Choix de la vitesse de rotation des moteurs.
-    speedA = 1; // Moteur gauche
-    speedB = 1; // Moteur droit
-    // vitesse en quelles unités ?
+    speedA = 0.01; // Moteur gauche
+    speedB = 0.01; // Moteur droit
+    // vpourcentage par rapport à la vitesse max
    
     // On active les moteurs
     stby = 1;
+    // si stby à 0 ? alors moteur en standby, enfaite stby est inv stby
    
-    wait(1); // On avance pendant 1 secondes
+    wait(0.5); // On avance pendant 1 secondes
    
     // On tourne pendant 1sec sur la gauche
     speedA = 0.5;
-    wait(1);
+    wait(0.5);
    
     // On tourne pendant 1sec sur la droite
     speedA = 1;
     speedB = 0.5;
-    wait(1);
+    wait(0.5);
    
     // On tourne sur place sur la gauche pendant 1sec
     speedB = 1;
     inA1 = 0;
     inA2 = 1;
-    wait(1);
+    wait(0.5);
    
     // On tourne sur place sur la droite pendant 1sec
     inA1 = 1;
     inA2 = 0;
     inB1 = 0;
     inB2 = 1;
-    wait(1);
+    wait(0.5);
    
     // On recule pendant 1sec;
     inA1 = 0;
     inA2 = 1;
-    wait(1);
+    wait(0.5);
    
     // On avance de nouveau 1sec;
     inA1 = 1;
     inA2 = 0;
     inB1 = 1;
     inB2 = 0;
-    wait(1);
+    wait(0.5);
    
     speedA=0;
     speedB=0;
 }
- 
-void testLineSensors()
+ /*
+void testLineSensorsCustom()
 {
+    float dist;
+    
     inA1 = 1;
     inA2 = 0;
     inB1 = 1;
@@ -105,15 +153,47 @@
     speedA = 0;
     speedB = 0;
    
-    while(1)
+    while(dist > EPSILON/2)
+    {
+        sonar.start();
+        dist = sonar.get_dist_cm();
+        
+        //pc.printf("distance : %f\r\n", dist);
+
+        speedA = 1;
+        speedB = .9;
+        inA1 = 1;
+        inA2 = 0;
+        inB1 = 1;
+        inB2 = 0;
+    }
+
+    
+    while(dist < EPSILON/2)
     {
-        if (lineL <= .5) // ??
-            speedA = 1;
+        sonar.start();
+        dist = sonar.get_dist_cm();
+        
+        speedA = 0;
+        speedB = 0;
+        inA1 = inA2 = inB1 = inB2 = 1;
+        
+    }
+}
+
+
+
+    -> Choix direction
+    -> Choix vitesse rotation moteur
+    
+
+
+        if (lineL <= .5)
+            speedA = 0.9;
         else
             speedA = 0;
         if (lineR <= .5) // ??
             speedB = .7;
         else
             speedB = 0;
-    }
-}
+*/
\ No newline at end of file