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.

Dependencies:   F746_GUI mbed

Files at this revision

API Documentation at this revision

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

F746_GUI.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 24647f68ab29 F746_GUI.lib
--- /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
diff -r 000000000000 -r 24647f68ab29 main.cpp
--- /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
diff -r 000000000000 -r 24647f68ab29 mbed.bld
--- /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