Romain Ame / Mbed 2 deprecated Timer71pt

Fork de Timer après le match à 61 points

Dependencies:   RoboClaw mbed

Fork of Timer by ARES

main.cpp@84:b54822c913b0, 2016-05-06 (annotated)

Committer:
IceTeam
Date:
Fri May 06 07:43:02 2016 +0000
Revision:
84:b54822c913b0
Parent:
83:714fa414b2bf
Child:
85:38cbf5fd22e1
Plateforme test Ok ! Choix des couleurs Ok ! et testey

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 81:e7b03e81b025 1 #include "entete.h"
sype 41:b5a2fbc20beb 2
IceTeam 83:714fa414b2bf 3 DigitalIn CAMP(PA_15);
IceTeam 83:714fa414b2bf 4 DigitalIn START(PB_7);
IceTeam 83:714fa414b2bf 5 DigitalOut LEDR(PC_2);
IceTeam 83:714fa414b2bf 6 DigitalOut LEDV(PC_3);
IceTeam 84:b54822c913b0 7 DigitalIn button(USER_BUTTON);
IceTeam 83:714fa414b2bf 8 int SCouleur = VERT;
IceTeam 83:714fa414b2bf 9
IceTeam 80:cd4960dfa47e 10 BusOut drapeau (PC_8, PC_6, PC_5);
sype 46:5658af4e5149 11 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
IceTeam 80:cd4960dfa47e 12 AnalogIn Rcapt1(PA_4);
IceTeam 80:cd4960dfa47e 13 int RvalRcapt1 = 0;
IceTeam 80:cd4960dfa47e 14 AnalogIn Rcapt2(PB_0);
IceTeam 80:cd4960dfa47e 15 int RvalRcapt2 = 0;
IceTeam 80:cd4960dfa47e 16 AnalogIn Rcapt3(PC_1);
IceTeam 80:cd4960dfa47e 17 int RvalRcapt3 = 0;
IceTeam 80:cd4960dfa47e 18 int Ravance = 1;
IceTeam 81:e7b03e81b025 19 DigitalIn start(PB_7);
IceTeam 80:cd4960dfa47e 20
sype 43:d5aaff7d2bec 21 /* Debut du programme */
sype 0:ad9600df4a70 22 int main(void)
sype 10:ae3178aa94e9 23 {
IceTeam 80:cd4960dfa47e 24 Ticker ticker;
IceTeam 80:cd4960dfa47e 25 ticker.attach(&Sharps, 0.01);
IceTeam 83:714fa414b2bf 26 depart();
IceTeam 83:714fa414b2bf 27 if (SCouleur == VERT) {
IceTeam 83:714fa414b2bf 28 GotoDist(5.5);
IceTeam 83:714fa414b2bf 29 }
IceTeam 83:714fa414b2bf 30 else if (SCouleur == VIOLET) {
IceTeam 83:714fa414b2bf 31 ;
IceTeam 83:714fa414b2bf 32 }
IceTeam 83:714fa414b2bf 33 else {
IceTeam 84:b54822c913b0 34 TestDist3(2,2);
IceTeam 84:b54822c913b0 35 TestThet3(1,1);
IceTeam 83:714fa414b2bf 36 }
IceTeam 83:714fa414b2bf 37
sype 77:f19cc7f81f2a 38 while(1);
sype 2:abdf8c6823a1 39 }
IceTeam 80:cd4960dfa47e 40
IceTeam 80:cd4960dfa47e 41 void Sharps() {
IceTeam 80:cd4960dfa47e 42 if (Rcapt1.read() > R_SEUIL_SHARP) RvalRcapt1++;
IceTeam 80:cd4960dfa47e 43 else RvalRcapt1--;
IceTeam 80:cd4960dfa47e 44 RvalRcapt1 = RvalRcapt1 > 10 ? 10 : RvalRcapt1;
IceTeam 80:cd4960dfa47e 45 RvalRcapt1 = RvalRcapt1 < 0 ? 0 : RvalRcapt1;
IceTeam 80:cd4960dfa47e 46
IceTeam 80:cd4960dfa47e 47 if (Rcapt2.read() > R_SEUIL_SHARP) RvalRcapt2++;
IceTeam 80:cd4960dfa47e 48 else RvalRcapt2--;
IceTeam 80:cd4960dfa47e 49 RvalRcapt2 = RvalRcapt2 > 10 ? 10 : RvalRcapt2;
IceTeam 80:cd4960dfa47e 50 RvalRcapt2 = RvalRcapt2 < 0 ? 0 : RvalRcapt2;
IceTeam 80:cd4960dfa47e 51
IceTeam 80:cd4960dfa47e 52 if (Rcapt3.read() > R_SEUIL_SHARP) RvalRcapt3++;
IceTeam 80:cd4960dfa47e 53 else RvalRcapt3--;
IceTeam 80:cd4960dfa47e 54 RvalRcapt3 = RvalRcapt3 > 10 ? 10 : RvalRcapt3;
IceTeam 80:cd4960dfa47e 55 RvalRcapt3 = RvalRcapt3 < 0 ? 0 : RvalRcapt3;
IceTeam 80:cd4960dfa47e 56
IceTeam 80:cd4960dfa47e 57 if (RvalRcapt1 >= 5 || RvalRcapt2 >= 5 || RvalRcapt3 >= 5)
IceTeam 80:cd4960dfa47e 58 Ravance = 0;
IceTeam 80:cd4960dfa47e 59 else
IceTeam 80:cd4960dfa47e 60 Ravance = 1;
IceTeam 80:cd4960dfa47e 61
IceTeam 80:cd4960dfa47e 62 if (Ravance == 0)
IceTeam 80:cd4960dfa47e 63 drapeau = 1;
IceTeam 80:cd4960dfa47e 64 else
IceTeam 80:cd4960dfa47e 65 drapeau = 2;
IceTeam 81:e7b03e81b025 66 }
IceTeam 81:e7b03e81b025 67
IceTeam 81:e7b03e81b025 68 void GotoDist(float timer) {
IceTeam 81:e7b03e81b025 69 Timer t;
IceTeam 81:e7b03e81b025 70
IceTeam 81:e7b03e81b025 71 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 72 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 73
IceTeam 81:e7b03e81b025 74 t.reset();
IceTeam 81:e7b03e81b025 75 t.start();
IceTeam 81:e7b03e81b025 76
IceTeam 81:e7b03e81b025 77 while (t.read() < timer) {
IceTeam 81:e7b03e81b025 78 if (Ravance != 1) {
IceTeam 81:e7b03e81b025 79 roboclaw.ForwardM1(0);
IceTeam 81:e7b03e81b025 80 roboclaw.ForwardM2(0);
IceTeam 81:e7b03e81b025 81 t.stop();
IceTeam 81:e7b03e81b025 82 while (Ravance != 1);
IceTeam 81:e7b03e81b025 83 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 84 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 85 t.start();
IceTeam 81:e7b03e81b025 86 }
IceTeam 81:e7b03e81b025 87 }
IceTeam 81:e7b03e81b025 88
IceTeam 81:e7b03e81b025 89 roboclaw.ForwardM1(0);
IceTeam 81:e7b03e81b025 90 roboclaw.ForwardM2(0);
IceTeam 81:e7b03e81b025 91
IceTeam 81:e7b03e81b025 92 t.stop();
IceTeam 81:e7b03e81b025 93 t.reset();
IceTeam 81:e7b03e81b025 94
IceTeam 81:e7b03e81b025 95 wait(waiting_time);
IceTeam 81:e7b03e81b025 96 }
IceTeam 81:e7b03e81b025 97
IceTeam 81:e7b03e81b025 98 void GotoThet (float timer, int signe) {
IceTeam 81:e7b03e81b025 99 Timer t;
IceTeam 81:e7b03e81b025 100
IceTeam 81:e7b03e81b025 101 if (signe < 0) {
IceTeam 81:e7b03e81b025 102 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 103 roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
IceTeam 81:e7b03e81b025 104 }
IceTeam 81:e7b03e81b025 105 else {
IceTeam 81:e7b03e81b025 106 roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
IceTeam 81:e7b03e81b025 107 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 108 }
IceTeam 81:e7b03e81b025 109
IceTeam 81:e7b03e81b025 110 t.reset();
IceTeam 81:e7b03e81b025 111 t.start();
IceTeam 81:e7b03e81b025 112
IceTeam 81:e7b03e81b025 113 while (t.read() < timer) {
IceTeam 81:e7b03e81b025 114 if (Ravance != 1) {
IceTeam 81:e7b03e81b025 115 roboclaw.ForwardM1(0);
IceTeam 81:e7b03e81b025 116 roboclaw.ForwardM2(0);
IceTeam 81:e7b03e81b025 117 t.stop();
IceTeam 81:e7b03e81b025 118 while (Ravance != 1);
IceTeam 81:e7b03e81b025 119 t.start();
IceTeam 81:e7b03e81b025 120 }
IceTeam 81:e7b03e81b025 121 if (signe < 0) {
IceTeam 81:e7b03e81b025 122 roboclaw.SpeedAccelM1(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 123 roboclaw.SpeedAccelM2(-accel_dista, -vitesse_dista);
IceTeam 81:e7b03e81b025 124 }
IceTeam 81:e7b03e81b025 125 else {
IceTeam 81:e7b03e81b025 126 roboclaw.SpeedAccelM1(-accel_dista, -vitesse_dista);
IceTeam 81:e7b03e81b025 127 roboclaw.SpeedAccelM2(accel_dista, vitesse_dista);
IceTeam 81:e7b03e81b025 128 }
IceTeam 81:e7b03e81b025 129 }
IceTeam 81:e7b03e81b025 130
IceTeam 81:e7b03e81b025 131 roboclaw.ForwardM1(0);
IceTeam 81:e7b03e81b025 132 roboclaw.ForwardM2(0);
IceTeam 81:e7b03e81b025 133
IceTeam 81:e7b03e81b025 134 t.stop();
IceTeam 81:e7b03e81b025 135 t.reset();
IceTeam 81:e7b03e81b025 136
IceTeam 81:e7b03e81b025 137 wait(waiting_time);
IceTeam 80:cd4960dfa47e 138 }