Quentin G
Programme avec une interface graphique qu contrôle l'avant bras droit du projet InMoov sur la carte STM32F746G-DISCO pour le projet d’interfaçage de la Licence Pro MECSE.
Revision 0:24647f68ab29, committed 2019-06-04
- Comitter:
- Lp
- Date:
- Tue Jun 04 12:47:25 2019 +0000
- Commit message:
- Interface inMoov Avant bras droit avec carte STM32F746G
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/F746_GUI.lib Tue Jun 04 12:47:25 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/MikamiUitOpen/code/F746_GUI/#50b8f7654c36
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Jun 04 12:47:25 2019 +0000
@@ -0,0 +1,152 @@
+#include "mbed.h"
+#include "F746_GUI.hpp"
+#include "TS_DISCO_F746NG.h"
+#include "LCD_DISCO_F746NG.h"
+
+LCD_DISCO_F746NG lcd;
+TS_DISCO_F746NG ts;
+
+PwmOut pouce(A5);
+PwmOut index(A4);
+PwmOut majeur(A3);
+PwmOut annulaire(A2);
+PwmOut auriculaire(A0);
+PwmOut poignet(D3);
+float us;
+
+int main() {
+
+ SeekBar auriculairebar(30,40,150,0,180,90,SeekBar::Vertical,0xFFB0B0FF,30,5);
+ SeekBar annulairebar(70,40,150,0,180,90,SeekBar::Vertical,0xFFB0B0FF,30,5);
+ SeekBar majeurbar(110,40,150,0,180,90,SeekBar::Vertical,0xFFB0B0FF,30,5);
+ SeekBar indexbar(150,40,150,0,180,90,SeekBar::Vertical,0xFFB0B0FF,30,5);
+ SeekBar poucebar(190,40,150,0,180,90,SeekBar::Vertical,0xFFB0B0FF,30,5);
+ SeekBar poignetbar(40,230,150,0,180,90,SeekBar::Holizontal,0xFFB0B0FF,30,5);
+ Button reset(270,30,80,40,"Reset",Font16,LCD_COLOR_WHITE,LCD_COLOR_BLUE);
+ Button poing(380,30,80,40,"Poing",Font16,LCD_COLOR_WHITE,LCD_COLOR_BLUE);
+ Button doigt(270,100,80,40,"Cencurer",Font12,LCD_COLOR_WHITE,LCD_COLOR_BLUE);
+ Button metal(380,100,80,40,"Metal",Font16,LCD_COLOR_WHITE,LCD_COLOR_BLUE);
+ Button pointe(270,170,80,40,"Pointe",Font16,LCD_COLOR_WHITE,LCD_COLOR_BLUE);
+ Button ok(380,170,80,40,"OK",Font16,LCD_COLOR_WHITE,LCD_COLOR_BLUE);
+
+ pouce.pulsewidth_us(1500);
+ index.pulsewidth_us(1500);
+ majeur.pulsewidth_us(1500);
+ annulaire.pulsewidth_us(1500);
+ auriculaire.pulsewidth_us(1500);
+ poignet.pulsewidth_us(1500);
+ lcd.DrawVLine(250, 0, 300);
+
+
+ wait(2);
+
+ while(1){
+ lcd.DisplayStringAt(5,5, (uint8_t *)"MODE LIBRE",LEFT_MODE);
+ lcd.DisplayStringAt(5,5, (uint8_t *)"MODE PREPROGRAMMER",RIGHT_MODE);
+
+ if (auriculairebar.Slide()) {
+ //labelServo.Draw("%%%5.1f", auriculairebar .GetValue());
+ us = auriculairebar.GetValue()*((1500/180)*2);
+ auriculaire.pulsewidth_us(us);
+ }
+
+ if (annulairebar.Slide()) {
+ us = annulairebar.GetValue()*((1500/180)*2);
+ annulaire.pulsewidth_us(us);
+ }
+
+ if (majeurbar.Slide()) {
+ //labelServo.Draw("%%%5.1f", auriculairebar .GetValue());
+ us = majeurbar.GetValue()*((1500/180)*2);
+ majeur.pulsewidth_us(us);
+ }
+
+ if (indexbar.Slide()) {
+ //labelServo.Draw("%%%5.1f", auriculairebar .GetValue());
+ us = indexbar.GetValue()*((1500/180)*2);
+ index.pulsewidth_us(us);
+ }
+
+ if (poucebar.Slide()) {
+ //labelServo.Draw("%%%5.1f", auriculairebar .GetValue());
+ us = poucebar.GetValue()*((1500/180)*2);
+ pouce.pulsewidth_us(us);
+ }
+
+ if (poignetbar.Slide()) {
+ //labelServo.Draw("%%%5.1f", auriculairebar .GetValue());
+ us = poignetbar.GetValue()*((1500/180)*2);
+ poignet.pulsewidth_us(us);
+ }
+
+ if(reset.Touched())
+ {
+ pouce.pulsewidth_us(1500);
+ index.pulsewidth_us(1500);
+ majeur.pulsewidth_us(1500);
+ annulaire.pulsewidth_us(1500);
+ auriculaire.pulsewidth_us(1500);
+ poignet.pulsewidth_us(1500);
+ }
+
+ if(poing.Touched())
+ {
+ pouce.pulsewidth_us(1900);
+ index.pulsewidth_us(1900);
+ majeur.pulsewidth_us(1900);
+ annulaire.pulsewidth_us(1900);
+ auriculaire.pulsewidth_us(1900);
+ poignet.pulsewidth_us(1500);
+
+ }
+
+ if(doigt.Touched())
+ {
+ pouce.pulsewidth_us(1900);
+ index.pulsewidth_us(1900);
+ majeur.pulsewidth_us(450);
+ annulaire.pulsewidth_us(1900);
+ auriculaire.pulsewidth_us(1900);
+ poignet.pulsewidth_us(1500);
+
+ }
+
+ if(metal.Touched())
+ {
+ pouce.pulsewidth_us(1900);
+ index.pulsewidth_us(450);
+ majeur.pulsewidth_us(1900);
+ annulaire.pulsewidth_us(1900);
+ auriculaire.pulsewidth_us(450);
+ poignet.pulsewidth_us(1500);
+
+ }
+ if(pointe.Touched())
+ {
+ pouce.pulsewidth_us(1900);
+ index.pulsewidth_us(450);
+ majeur.pulsewidth_us(1900);
+ annulaire.pulsewidth_us(1900);
+ auriculaire.pulsewidth_us(1900);
+ poignet.pulsewidth_us(450);
+
+ }
+
+ if(ok.Touched())
+ {
+ pouce.pulsewidth_us(1700);
+ index.pulsewidth_us(1600);
+ majeur.pulsewidth_us(450);
+ annulaire.pulsewidth_us(450);
+ auriculaire.pulsewidth_us(450);
+ poignet.pulsewidth_us(1500);
+
+ }
+
+
+ }
+ }
+
+
+
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Jun 04 12:47:25 2019 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc \ No newline at end of file