Guillaume Chauvon / Mbed 2 deprecated Asserve12

asser1

Dependencies:   mbed asser1

main.cpp@3:1dba6eca01ad, 2019-05-06 (annotated)

Committer:
GuillaumeCH
Date:
Mon May 06 13:48:45 2019 +0000
Revision:
3:1dba6eca01ad
Parent:
2:5764f89a27f6
Child:
4:deef042e9c02
O

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Coconara 0:6ca63d45f0ee 1 #include "mbed.h"
Coconara 0:6ca63d45f0ee 2
Coconara 0:6ca63d45f0ee 3 #include "hardware.h"
Coconara 0:6ca63d45f0ee 4 #include "odometrie.h"
Coconara 0:6ca63d45f0ee 5 #include "reglages.h"
GuillaumeCH 2:5764f89a27f6 6 #include "commande_moteurs.h"
GuillaumeCH 3:1dba6eca01ad 7 #include "deplacement.h"
Coconara 0:6ca63d45f0ee 8
Coconara 0:6ca63d45f0ee 9 int main()
Coconara 0:6ca63d45f0ee 10 {
Coconara 0:6ca63d45f0ee 11 //init
Coconara 0:6ca63d45f0ee 12 init_odometrie();
Coconara 0:6ca63d45f0ee 13 init_hardware();
GuillaumeCH 2:5764f89a27f6 14 srand(time(NULL));
GuillaumeCH 2:5764f89a27f6 15 motors_on();
GuillaumeCH 3:1dba6eca01ad 16 /*DigitalIn depart(USER_BUTTON);
GuillaumeCH 2:5764f89a27f6 17 //Pause pour sauver le robot et l'ordi
GuillaumeCH 3:1dba6eca01ad 18 while(depart);*/
GuillaumeCH 3:1dba6eca01ad 19 deplacement robot;
GuillaumeCH 3:1dba6eca01ad 20 robot.bouton();
GuillaumeCH 3:1dba6eca01ad 21 Ticker asser;
GuillaumeCH 3:1dba6eca01ad 22 Timer t;
GuillaumeCH 3:1dba6eca01ad 23 t.start();
GuillaumeCH 3:1dba6eca01ad 24 asser.attach(callback(&robot,&deplacement::asservissement),0.01);
GuillaumeCH 3:1dba6eca01ad 25 robot.test();
GuillaumeCH 3:1dba6eca01ad 26 asser.detach();
GuillaumeCH 3:1dba6eca01ad 27 robot.vitesse_nulle_G(0);
GuillaumeCH 3:1dba6eca01ad 28 robot.vitesse_nulle_D(0);
GuillaumeCH 3:1dba6eca01ad 29 wait(0.2);
GuillaumeCH 3:1dba6eca01ad 30 motors_stop();
GuillaumeCH 3:1dba6eca01ad 31 robot.printftab();
GuillaumeCH 3:1dba6eca01ad 32 //actualise_position();
GuillaumeCH 3:1dba6eca01ad 33 //while(t.read()<5){
GuillaumeCH 3:1dba6eca01ad 34 //debugEncoder();
GuillaumeCH 3:1dba6eca01ad 35 //}
GuillaumeCH 3:1dba6eca01ad 36
GuillaumeCH 3:1dba6eca01ad 37 //commande_vitesse(600,600);
GuillaumeCH 3:1dba6eca01ad 38
GuillaumeCH 3:1dba6eca01ad 39 //robot.ligne_droite_v2(150000);
GuillaumeCH 3:1dba6eca01ad 40 //asser.detach();
GuillaumeCH 3:1dba6eca01ad 41 //robot.ligne_droite_v2(210000);
GuillaumeCH 3:1dba6eca01ad 42 //robot.test_rotation_rel(-90);
GuillaumeCH 3:1dba6eca01ad 43 //ligne_droite_v2(210000);
GuillaumeCH 3:1dba6eca01ad 44 /*while(t.read()<3){
GuillaumeCH 3:1dba6eca01ad 45 //actualise_position();
GuillaumeCH 3:1dba6eca01ad 46 //actualise_position_test();
GuillaumeCH 3:1dba6eca01ad 47 //debugEncoder();
GuillaumeCH 3:1dba6eca01ad 48 //("bite");
GuillaumeCH 3:1dba6eca01ad 49 }*/
GuillaumeCH 3:1dba6eca01ad 50 //wait(1);
GuillaumeCH 3:1dba6eca01ad 51 /*for(int i =0;i<50;i++){
GuillaumeCH 3:1dba6eca01ad 52 robot.test_rotation_rel(180);
GuillaumeCH 3:1dba6eca01ad 53 }*/
GuillaumeCH 3:1dba6eca01ad 54 //robot.ligne_droite_v2(30000);
GuillaumeCH 3:1dba6eca01ad 55 /*robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 56 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 57 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 58 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 59 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 60 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 61 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 62 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 63 robot.ligne_droite_v2(100000);
GuillaumeCH 3:1dba6eca01ad 64 robot.ligne_droite_v2(100000);*/
GuillaumeCH 3:1dba6eca01ad 65 //robot.ligne_droite_v2(210000);
GuillaumeCH 3:1dba6eca01ad 66 /*for (int i =0;i<4;i++){
GuillaumeCH 3:1dba6eca01ad 67 robot.ligne_droite_v2(50000);
GuillaumeCH 3:1dba6eca01ad 68 robot.test_rotation_rel(-90);
GuillaumeCH 3:1dba6eca01ad 69 }*/
GuillaumeCH 3:1dba6eca01ad 70 //robot.ligne_droite_v2(140000);
GuillaumeCH 3:1dba6eca01ad 71 //vitesse_nulle_G(0);
GuillaumeCH 3:1dba6eca01ad 72 //vitesse_nulle_D(0);
GuillaumeCH 3:1dba6eca01ad 73 //motors_stop();
GuillaumeCH 3:1dba6eca01ad 74 //robot.tab();
GuillaumeCH 3:1dba6eca01ad 75 //ligne_droite(200000);
GuillaumeCH 3:1dba6eca01ad 76 //ligne_droite_v2(200000);
GuillaumeCH 2:5764f89a27f6 77 //commande_vitesse(500,500);
GuillaumeCH 3:1dba6eca01ad 78 //test_rotation_rel(90);
GuillaumeCH 3:1dba6eca01ad 79 //test_rotation_rel(-90);
GuillaumeCH 3:1dba6eca01ad 80 //test_rotation_rel(180);
GuillaumeCH 3:1dba6eca01ad 81 /*for (int i =0;i<6;i++){
GuillaumeCH 3:1dba6eca01ad 82 robot.test_rotation_rel(180);
GuillaumeCH 2:5764f89a27f6 83 wait(1);
Coconara 1:0690cf83f060 84 }*/
GuillaumeCH 3:1dba6eca01ad 85
Coconara 0:6ca63d45f0ee 86 return 0;
Coconara 0:6ca63d45f0ee 87 }