Diff: main.cpp.orig

Revision:

74:07cdad6e861a

Parent:

53:bef06d5e827d

--- a/main.cpp.orig	Thu May 05 05:48:00 2016 +0200
+++ b/main.cpp.orig	Thu May 05 05:49:41 2016 +0200
@@ -1,6 +1,8 @@
 #include "func.h"
 #include "map.h"
 
+#include "ControlleurPince.h"
+
 /* Déclaration des différents éléments de l'IHM */
 
 DigitalIn CAMP(PA_15);
@@ -22,8 +24,8 @@
 DigitalOut blanc(PC_6);
 DigitalOut rouge(PC_8);
 
-//AX12 left_hand(PA_9, PA_10, 4, 250000);
-//AX12 right_hand(PA_9, PA_10, 1, 250000);
+AX12 left_hand(PA_9, PA_10, 3, 250000);
+AX12 right_hand(PA_9, PA_10, 2, 250000);
 
 /* Sharp */
 AnalogIn capt1(PA_4);
@@ -32,9 +34,9 @@
 AnalogIn capt4(PC_0);
 
 /* Moteurs pas à pas */
-Stepper RMot(NC, PA_8, PC_7, 4);
-Stepper ZMot(NC, PB_4, PB_10, 5);
-Stepper LMot(NC, PB_5, PB_3, 4);
+Stepper RMot(NC, PA_8, PC_7, PB_15, 4);
+Stepper ZMot(NC, PB_4, PB_10, PB_14, 5);
+Stepper LMot(NC, PB_5, PB_3, PB_13, 4);
 /* Fins de course */
 InterruptIn EndR(PB_15);
 InterruptIn EndZ(PB_14);
@@ -43,6 +45,8 @@
 DigitalIn EnZ(PB_14);
 DigitalIn EnL(PB_13);
 
+ControlleurPince controlleurPince(RMot, ZMot, LMot, EnR, EnZ, EnL, left_hand, right_hand);
+
 Ticker ticker;
 //Serial logger(USBTX, USBRX);
 Serial logger(PA_2, PA_3);
@@ -58,8 +62,53 @@
 /* Debut du programme */
 int main(void)
 {
-    logger.printf("Depart homologation !\n\r");
-    homologation();
+<<<<<<< local
+    init();
+    map m(&odo, NULL, &controlleurPince, VERT, 1);
+    m.Execute(0);
+    m.Execute();
+=======
+    roboclaw.ForwardM1(0);
+    roboclaw.ForwardM2(0);
+    
+    //logger.printf("Depart homologation !\n\r");
+    //homologation();
+    
+    controlleurPince.init();
+    controlleurPince.home();
+    wait(1);
+    controlleurPince.open();
+    logger.printf("z 10 \r\n");
+    controlleurPince.setPos(10,-1);
+    wait(1);
+    logger.printf("z 20 \r\n");
+    controlleurPince.setPos(20,-1);
+    wait(1);
+    controlleurPince.close();
+    logger.printf("d 30 \r\n");
+    controlleurPince.setPos(-1,30);
+    wait(1);
+    logger.printf("c 50 \r\n");
+    controlleurPince.setPos(-1,-1,50);
+    wait(1);
+    logger.printf("d 0 \r\n");
+    controlleurPince.setPos(-1,0);
+    
+    while(1);
+    
+    
+    /*wait(1);
+    logger.printf("set pos 20 ...\n\r");
+    controlleurPince.setPos(20.f,0.f,0.f);
+    wait(1);
+    logger.printf("set pos 70 ...\n\r");
+    controlleurPince.setPos(70.f,0.f,0.f);
+    wait(1);
+    logger.printf("set pos 20 ...\n\r");
+    controlleurPince.setPos(20.f,0.f,0.f);
+    logger.printf("Done ...\n\r");*/
+    
+>>>>>>> other
     /*drapeau = 0;
     init();
 
@@ -68,6 +117,11 @@
     m.addObs(obsCarr (1500, 750, 220, 220));
     m.addObs(obsCarr (1500, 1250, 220, 220));
 
+    init();    
+    
+    int cote = MAP_RIGHTSIDE;
+    /*map m(&odo);
+    m.Build(cote);
     m.Execute(1000,1000);
     m.Execute(1500,1000);
     m.Execute(1500,1500);
@@ -86,23 +140,15 @@
     logger.baud(9600);
     logger.printf("Hello from main !\n\r");
 
-    init_interrupt();
-    goHome();
-
-    SCouleur = VERT;
-    LEDV = 1;
-    LEDR = 0;
-
-    odo.setPos(110, 1000, 0);
-    roboclaw.ResetEnc();
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    wait_ms(500);
-    while(1);
+    controlleurPince.home();
+    
     //depart();
     init_interrupt();
-    wait_ms(100);
-    while(START==0);
+    wait_ms(1);
+    while (CAMP == 0);
+    while (CAMP == 1);
+    
+    //while(START==0);
     logger.printf("End init\n\r");
 }