Guillaume Chauvon / Mbed 2 deprecated Asserve12

asser1

Dependencies:   mbed asser1

main.cpp@4:deef042e9c02, 2019-05-08 (annotated)

Committer:
GuillaumeCH
Date:
Wed May 08 20:46:46 2019 +0000
Revision:
4:deef042e9c02
Parent:
3:1dba6eca01ad 
f

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 {
GuillaumeCH 4:deef042e9c02 11 //ini
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 4:deef042e9c02 16 AnalogIn Ain(A0);
GuillaumeCH 4:deef042e9c02 17 if(Ain.read()<0.5){
GuillaumeCH 4:deef042e9c02 18 return 0;
GuillaumeCH 4:deef042e9c02 19 }
GuillaumeCH 3:1dba6eca01ad 20 /*DigitalIn depart(USER_BUTTON);
GuillaumeCH 2:5764f89a27f6 21 //Pause pour sauver le robot et l'ordi
GuillaumeCH 3:1dba6eca01ad 22 while(depart);*/
GuillaumeCH 3:1dba6eca01ad 23 deplacement robot;
GuillaumeCH 3:1dba6eca01ad 24 robot.bouton();
GuillaumeCH 3:1dba6eca01ad 25 Ticker asser;
GuillaumeCH 3:1dba6eca01ad 26 Timer t;
GuillaumeCH 3:1dba6eca01ad 27 t.start();
GuillaumeCH 4:deef042e9c02 28 //asser.attach(callback(&robot,&deplacement::asservissement),0.01);
GuillaumeCH 4:deef042e9c02 29 //robot.ligne_droite_v2(210000);
GuillaumeCH 4:deef042e9c02 30
GuillaumeCH 3:1dba6eca01ad 31 //robot.ligne_droite_v2(210000);
GuillaumeCH 4:deef042e9c02 32 robot.commande_vitesse(500,0);
GuillaumeCH 4:deef042e9c02 33 //robot.ligne_droite_v2(150000);
GuillaumeCH 4:deef042e9c02 34 //robot.test_rotation_rel(90);
GuillaumeCH 4:deef042e9c02 35 //robot.ligne_droite_v2(40000);
GuillaumeCH 4:deef042e9c02 36 //robot.poussette();
GuillaumeCH 4:deef042e9c02 37 //robot.reculer_un_peu(-50000);
GuillaumeCH 4:deef042e9c02 38 //robot.test();
GuillaumeCH 4:deef042e9c02 39 //asser.detach();
GuillaumeCH 4:deef042e9c02 40 //robot.vitesse_nulle_G(0);
GuillaumeCH 4:deef042e9c02 41 //robot.vitesse_nulle_D(0);
GuillaumeCH 4:deef042e9c02 42 //wait(0.2);
GuillaumeCH 3:1dba6eca01ad 43 //motors_stop();
GuillaumeCH 4:deef042e9c02 44 //robot.printftab();
GuillaumeCH 3:1dba6eca01ad 45
GuillaumeCH 4:deef042e9c02 46
GuillaumeCH 4:deef042e9c02 47 //printf("x : %lf,y : %lf,angle : %lf\n",get_x_actuel(),get_y_actuel(),get_angle());*/
Coconara 0:6ca63d45f0ee 48 return 0;
Coconara 0:6ca63d45f0ee 49 }