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Dependencies:   RoboClaw mbed

Fork of Robot2016_2-0 by ARES

main.cpp@45:b53ae54062c6, 2016-04-13 (annotated)

Committer:
sype
Date:
Wed Apr 13 12:47:47 2016 +0000
Revision:
45:b53ae54062c6
Parent:
44:b1fd7489369f
Child:
46:be4eebf40568
Child:
47:5658af4e5149
Impl?mentation des dispositifs finie

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sype 41:b5a2fbc20beb 1 #include "func.h"
sype 0:ad9600df4a70 2
sype 10:ae3178aa94e9 3 #define ATTENTE 0
sype 10:ae3178aa94e9 4 #define GO 1
sype 10:ae3178aa94e9 5 #define STOP 2
sype 0:ad9600df4a70 6
sype 41:b5a2fbc20beb 7 /* Déclaration des différents éléments de l'IHM */
sype 10:ae3178aa94e9 8 InterruptIn mybutton(USER_BUTTON);
sype 10:ae3178aa94e9 9 DigitalIn button(USER_BUTTON);
sype 2:abdf8c6823a1 10 DigitalOut led(LED1);
sype 41:b5a2fbc20beb 11 DigitalOut bleu(PC_5);
sype 41:b5a2fbc20beb 12 DigitalOut blanc(PC_6);
sype 41:b5a2fbc20beb 13 DigitalOut rouge(PC_8);
sype 41:b5a2fbc20beb 14
sype 41:b5a2fbc20beb 15 /* AX12 */
sype 41:b5a2fbc20beb 16 AX12 left_hand(PA_15, PB_7, 4, 250000);
sype 41:b5a2fbc20beb 17 AX12 right_hand(PA_15, PB_7, 1, 250000);
sype 41:b5a2fbc20beb 18
sype 41:b5a2fbc20beb 19 /* Sharp */
sype 41:b5a2fbc20beb 20 AnalogIn capt1(PA_4);
sype 41:b5a2fbc20beb 21 AnalogIn capt2(PB_0);
sype 41:b5a2fbc20beb 22 AnalogIn capt3(PC_1);
sype 41:b5a2fbc20beb 23 AnalogIn capt4(PC_0);
sype 41:b5a2fbc20beb 24
sype 41:b5a2fbc20beb 25 /* Moteurs pas à pas */
sype 41:b5a2fbc20beb 26 Stepper RMot(NC, PB_10, PA_8);
sype 41:b5a2fbc20beb 27 Stepper ZMot(NC, PB_5, PB_4);
sype 41:b5a2fbc20beb 28 Stepper LMot(NC, PB_3, PA_10);
sype 41:b5a2fbc20beb 29 /* Fins de course */
sype 41:b5a2fbc20beb 30 InterruptIn EndR(PB_15);
sype 41:b5a2fbc20beb 31 InterruptIn EndZ(PB_14);
sype 41:b5a2fbc20beb 32 InterruptIn EndL(PB_13);
sype 41:b5a2fbc20beb 33
sype 0:ad9600df4a70 34 Ticker ticker;
sype 41:b5a2fbc20beb 35
sype 41:b5a2fbc20beb 36 Serial logger(USBTX, USBRX);
sype 41:b5a2fbc20beb 37 //Serial logger(PA_9, PA_10);
sype 10:ae3178aa94e9 38 RoboClaw roboclaw(460800, PA_11, PA_12);
IceTeam 39:309f38d1e49c 39 Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
sype 10:ae3178aa94e9 40
sype 41:b5a2fbc20beb 41 int i = 0, state = 0;
sype 41:b5a2fbc20beb 42 bool EL = false, EZ = false, ER = false;
sype 0:ad9600df4a70 43
sype 2:abdf8c6823a1 44 void init(void);
sype 0:ad9600df4a70 45
sype 43:d5aaff7d2bec 46 /* Debut du programme */
sype 0:ad9600df4a70 47 int main(void)
sype 10:ae3178aa94e9 48 {
sype 38:da3a2c781672 49 init();
sype 44:b1fd7489369f 50 while(1) JPO();
sype 2:abdf8c6823a1 51 }
sype 2:abdf8c6823a1 52
sype 2:abdf8c6823a1 53 void init(void)
sype 0:ad9600df4a70 54 {
sype 38:da3a2c781672 55 roboclaw.ForwardM1(ADR, 0);
sype 38:da3a2c781672 56 roboclaw.ForwardM2(ADR, 0);
sype 38:da3a2c781672 57 logger.baud(9600);
sype 38:da3a2c781672 58 logger.printf("Hello from main !\n\r");
sype 10:ae3178aa94e9 59 wait_ms(500);
sype 44:b1fd7489369f 60 bleu = 1, blanc = 1, rouge = 1;
sype 41:b5a2fbc20beb 61 wait_ms(1000);
sype 44:b1fd7489369f 62 bleu = 0, blanc = 0, rouge = 0;
sype 10:ae3178aa94e9 63
sype 10:ae3178aa94e9 64 while(button);
sype 10:ae3178aa94e9 65 wait(1);
sype 44:b1fd7489369f 66
sype 44:b1fd7489369f 67 init_ax12();
sype 44:b1fd7489369f 68 init_interrupt();
sype 41:b5a2fbc20beb 69 wait_ms(100);
IceTeam 39:309f38d1e49c 70 logger.printf("End init\n\r");
sype 0:ad9600df4a70 71 }