Romain Ame / Mbed 2 deprecated Stressed

coucou

Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

main.cpp.orig@53:bef06d5e827d, 2016-05-04 (annotated)

Committer:
IceTeam
Date:
Wed May 04 16:21:48 2016 +0000
Revision:
53:bef06d5e827d
Child:
74:07cdad6e861a
Ajout d?part homologation;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 53:bef06d5e827d 1 #include "func.h"
IceTeam 53:bef06d5e827d 2 #include "map.h"
IceTeam 53:bef06d5e827d 3
IceTeam 53:bef06d5e827d 4 /* Déclaration des différents éléments de l'IHM */
IceTeam 53:bef06d5e827d 5
IceTeam 53:bef06d5e827d 6 DigitalIn CAMP(PA_15);
IceTeam 53:bef06d5e827d 7 DigitalIn START(PB_7);
IceTeam 53:bef06d5e827d 8 DigitalOut LEDR(PC_2);
IceTeam 53:bef06d5e827d 9 DigitalOut LEDV(PC_3);
IceTeam 53:bef06d5e827d 10
IceTeam 53:bef06d5e827d 11 BusOut drapeau(PC_8, PC_6, PC_5);
IceTeam 53:bef06d5e827d 12
IceTeam 53:bef06d5e827d 13 InterruptIn mybutton(USER_BUTTON);
IceTeam 53:bef06d5e827d 14 DigitalIn button(USER_BUTTON);
IceTeam 53:bef06d5e827d 15
IceTeam 53:bef06d5e827d 16 DigitalIn ChannelA1(PA_1);
IceTeam 53:bef06d5e827d 17 DigitalIn ChannelB1(PA_0);
IceTeam 53:bef06d5e827d 18 DigitalIn ChannelA2(PA_5);
IceTeam 53:bef06d5e827d 19 DigitalIn ChannelB2(PA_6);
IceTeam 53:bef06d5e827d 20
IceTeam 53:bef06d5e827d 21 DigitalOut bleu(PC_5);
IceTeam 53:bef06d5e827d 22 DigitalOut blanc(PC_6);
IceTeam 53:bef06d5e827d 23 DigitalOut rouge(PC_8);
IceTeam 53:bef06d5e827d 24
IceTeam 53:bef06d5e827d 25 //AX12 left_hand(PA_9, PA_10, 4, 250000);
IceTeam 53:bef06d5e827d 26 //AX12 right_hand(PA_9, PA_10, 1, 250000);
IceTeam 53:bef06d5e827d 27
IceTeam 53:bef06d5e827d 28 /* Sharp */
IceTeam 53:bef06d5e827d 29 AnalogIn capt1(PA_4);
IceTeam 53:bef06d5e827d 30 AnalogIn capt2(PB_0);
IceTeam 53:bef06d5e827d 31 AnalogIn capt3(PC_1);
IceTeam 53:bef06d5e827d 32 AnalogIn capt4(PC_0);
IceTeam 53:bef06d5e827d 33
IceTeam 53:bef06d5e827d 34 /* Moteurs pas à pas */
IceTeam 53:bef06d5e827d 35 Stepper RMot(NC, PA_8, PC_7, 4);
IceTeam 53:bef06d5e827d 36 Stepper ZMot(NC, PB_4, PB_10, 5);
IceTeam 53:bef06d5e827d 37 Stepper LMot(NC, PB_5, PB_3, 4);
IceTeam 53:bef06d5e827d 38 /* Fins de course */
IceTeam 53:bef06d5e827d 39 InterruptIn EndR(PB_15);
IceTeam 53:bef06d5e827d 40 InterruptIn EndZ(PB_14);
IceTeam 53:bef06d5e827d 41 InterruptIn EndL(PB_13);
IceTeam 53:bef06d5e827d 42 DigitalIn EnR(PB_15);
IceTeam 53:bef06d5e827d 43 DigitalIn EnZ(PB_14);
IceTeam 53:bef06d5e827d 44 DigitalIn EnL(PB_13);
IceTeam 53:bef06d5e827d 45
IceTeam 53:bef06d5e827d 46 Ticker ticker;
IceTeam 53:bef06d5e827d 47 //Serial logger(USBTX, USBRX);
IceTeam 53:bef06d5e827d 48 Serial logger(PA_2, PA_3);
IceTeam 53:bef06d5e827d 49 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
IceTeam 53:bef06d5e827d 50 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
IceTeam 53:bef06d5e827d 51
IceTeam 53:bef06d5e827d 52 int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
IceTeam 53:bef06d5e827d 53 bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false, SGauche = false, SDevant = false, SDroite = false;
IceTeam 53:bef06d5e827d 54
IceTeam 53:bef06d5e827d 55 void init(void);
IceTeam 53:bef06d5e827d 56 void update_main(void);
IceTeam 53:bef06d5e827d 57
IceTeam 53:bef06d5e827d 58 /* Debut du programme */
IceTeam 53:bef06d5e827d 59 int main(void)
IceTeam 53:bef06d5e827d 60 {
IceTeam 53:bef06d5e827d 61 logger.printf("Depart homologation !\n\r");
IceTeam 53:bef06d5e827d 62 homologation();
IceTeam 53:bef06d5e827d 63 /*drapeau = 0;
IceTeam 53:bef06d5e827d 64 init();
IceTeam 53:bef06d5e827d 65
IceTeam 53:bef06d5e827d 66 map m(&odo);
IceTeam 53:bef06d5e827d 67 m.addObs(obsCarr (1250, 1000, 220, 220));
IceTeam 53:bef06d5e827d 68 m.addObs(obsCarr (1500, 750, 220, 220));
IceTeam 53:bef06d5e827d 69 m.addObs(obsCarr (1500, 1250, 220, 220));
IceTeam 53:bef06d5e827d 70
IceTeam 53:bef06d5e827d 71 m.Execute(1000,1000);
IceTeam 53:bef06d5e827d 72 m.Execute(1500,1000);
IceTeam 53:bef06d5e827d 73 m.Execute(1500,1500);
IceTeam 53:bef06d5e827d 74 m.Execute(110,1000);
IceTeam 53:bef06d5e827d 75
IceTeam 53:bef06d5e827d 76 odo.GotoThet(0);
IceTeam 53:bef06d5e827d 77 roboclaw.ForwardM1(0);
IceTeam 53:bef06d5e827d 78 roboclaw.ForwardM2(0);
IceTeam 53:bef06d5e827d 79 logger.printf ("Chemin Fini !");
IceTeam 53:bef06d5e827d 80
IceTeam 53:bef06d5e827d 81 while(1);*/
IceTeam 53:bef06d5e827d 82 }
IceTeam 53:bef06d5e827d 83
IceTeam 53:bef06d5e827d 84 void init(void)
IceTeam 53:bef06d5e827d 85 {
IceTeam 53:bef06d5e827d 86 logger.baud(9600);
IceTeam 53:bef06d5e827d 87 logger.printf("Hello from main !\n\r");
IceTeam 53:bef06d5e827d 88
IceTeam 53:bef06d5e827d 89 init_interrupt();
IceTeam 53:bef06d5e827d 90 goHome();
IceTeam 53:bef06d5e827d 91
IceTeam 53:bef06d5e827d 92 SCouleur = VERT;
IceTeam 53:bef06d5e827d 93 LEDV = 1;
IceTeam 53:bef06d5e827d 94 LEDR = 0;
IceTeam 53:bef06d5e827d 95
IceTeam 53:bef06d5e827d 96 odo.setPos(110, 1000, 0);
IceTeam 53:bef06d5e827d 97 roboclaw.ResetEnc();
IceTeam 53:bef06d5e827d 98 roboclaw.ForwardM1(0);
IceTeam 53:bef06d5e827d 99 roboclaw.ForwardM2(0);
IceTeam 53:bef06d5e827d 100 wait_ms(500);
IceTeam 53:bef06d5e827d 101 while(1);
IceTeam 53:bef06d5e827d 102 //depart();
IceTeam 53:bef06d5e827d 103 init_interrupt();
IceTeam 53:bef06d5e827d 104 wait_ms(100);
IceTeam 53:bef06d5e827d 105 while(START==0);
IceTeam 53:bef06d5e827d 106 logger.printf("End init\n\r");
IceTeam 53:bef06d5e827d 107 }
IceTeam 53:bef06d5e827d 108
IceTeam 53:bef06d5e827d 109 void update_main(void)
IceTeam 53:bef06d5e827d 110 {
IceTeam 53:bef06d5e827d 111 odo.update_odo();
IceTeam 53:bef06d5e827d 112 checkAround();
IceTeam 53:bef06d5e827d 113 }