Diff: main.cpp

Revision:

79:b11b50108ae5

Parent:

78:c28bdbf29b6e

Child:

80:cd4960dfa47e

--- a/main.cpp	Thu May 05 13:17:00 2016 +0000
+++ b/main.cpp	Thu May 05 15:11:06 2016 +0000
@@ -1,159 +1,22 @@
-#include "func.h"
-#include "map.h"
-
-/* Déclaration des différents éléments de l'IHM */
-
-DigitalIn CAMP(PA_15);
-DigitalIn START(PB_7);
-DigitalOut LEDR(PC_2);
-DigitalOut LEDV(PC_3);
-
-BusOut drapeau(PC_8, PC_6, PC_5);
-
-InterruptIn mybutton(USER_BUTTON);
-DigitalIn button(USER_BUTTON);
-
-DigitalIn ChannelA1(PA_1);
-DigitalIn ChannelB1(PA_0);
-DigitalIn ChannelA2(PA_5);
-DigitalIn ChannelB2(PA_6);
-
-DigitalOut bleu(PC_5);
-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);
+#include "RoboClaw/RoboClaw.h"
+#include "mbed.h"
 
-/* Sharp */
-AnalogIn capt1(PA_4);
-AnalogIn capt2(PB_0);
-AnalogIn capt3(PC_1);
-AnalogIn capt4(PC_0);
+#define ADR 0x80
+#define accel_angle 12000
+#define vitesse_angle 10000
+#define deccel_angle 12000
 
-/* 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);
-/* Fins de course */
-InterruptIn EndR(PB_15);
-InterruptIn EndZ(PB_14);
-InterruptIn EndL(PB_13);
-DigitalIn EnR(PB_15);
-DigitalIn EnZ(PB_14);
-DigitalIn EnL(PB_13);
+#define accel_dista 12000
+#define vitesse_dista 12000
+#define deccel_dista 12000
 
-Ticker ticker;
-//Serial logger(USBTX, USBRX);
-Serial logger(PA_2, PA_3);
 RoboClaw roboclaw(ADR, 460800, PA_11, PA_12);
-Odometry odo(61.7, 61.8, ENTRAXE, 4096, roboclaw);
-
-int SIMON_i = 0, SIMON_state = 0, SCouleur = VERT, SStart = 0, SSchema = 1;
-bool SIMON_EL = false, SIMON_EZ = false, SIMON_ER = false;
-int SGauche = false, SDevant = false, SDroite = false;
-bool Sharps_actives = false;
-bool SHomologation = false;
-
-float seuils[3] = {0.25, 0.40, 0.25};
-
-void init(void);
-void update_main(void);
 
 /* Debut du programme */
 int main(void)
 {
-    /*logger.printf("Depart homologation !\n\r");
-    LEDV = 1;
-    LEDR = 0;
-    odo.setPos(110, 1000, 0);
-    roboclaw.ResetEnc();
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    wait_ms(100);
-    while(START==0);
-    odo.GotoXY(1000, 1000);*/
-    
-    roboclaw.ResetEnc();
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    logger.printf("Depart");
-    odo.setPos(110,850,0);
-    
-    init_interrupt();
-    
-    while(START==0);
-    
-    logger.printf("Depart");
-    odo.GotoXY(450,850);
-    logger.printf("Premier point atteint");
-    odo.GotoXY(1050,1100);
-    Sharps_actives = true;
-    logger.printf("Second point atteint");
-    odo.GotoXY(400,850);
-    logger.printf("Troisieme point atteint");
-    odo.GotoXY(400,1000);
-
-    LEDV = 1;
+    int distance_ticks_right = 10000;
+    int distance_ticks_left = 10000;
+    roboclaw.SpeedAccelDeccelPositionM1M2(accel_angle, vitesse_angle, deccel_angle, distance_ticks_right, accel_angle, vitesse_angle, deccel_angle, distance_ticks_left, 1);
     while(1);
-    //homologation();
-    /*drapeau = 0;
-    init();
-
-    map m(&odo);
-    m.addObs(obsCarr (1250, 1000, 220, 220));
-    m.addObs(obsCarr (1500, 750, 220, 220));
-    m.addObs(obsCarr (1500, 1250, 220, 220));
-
-    m.Execute(1000,1000);
-    m.Execute(1500,1000);
-    m.Execute(1500,1500);
-    m.Execute(110,1000);
-
-    odo.GotoThet(0);
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    logger.printf ("Chemin Fini !");
-
-    while(1);*/
 }
-
-void init(void)
-{
-    logger.baud(9600);
-    logger.printf("Hello from main !\n\r");
-
-    init_interrupt();
-
-    SCouleur = VERT;
-    LEDV = 1;
-    LEDR = 0;
-
-    odo.setPos(110, 1000, 0);
-    roboclaw.ResetEnc();
-    roboclaw.ForwardM1(0);
-    roboclaw.ForwardM2(0);
-    wait_ms(500);
-    while(1);
-    /*depart();
-    init_interrupt();
-    wait_ms(100);
-    while(START==0);
-    logger.printf("End init\n\r");*/
-}
-
-void update_main(void)
-{
-    odo.update_odo();
-    
-    checkAround();
-    
-    if (Sharps_actives && max(SGauche,SDevant,SDroite)>0 && odo.getCurrentStep() != STEP_T)
-    {
-        odo.pause();
-    }
-    /*else
-    {
-        odo.resume();
-    }*/
-}
\ No newline at end of file