Florian Fillol
/
FILLOL_STOLTZ_MAILLET
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Dependencies: Encodeur Laser Moteur NetworkSocketAPI Robot X_NUCLEO_IDW01M1v2 mbed
Fork of
Motor_HelloWorld
by 
Simon Ford
Revision 1:92554b556233, committed 2018-05-05
- Comitter:
- PeaceBearer
- Date:
- Sat May 05 15:29:03 2018 +0000
- Parent:
- 0:7bbc230e00d6
- Commit message:
- code;
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encodeur.lib Sat May 05 15:29:03 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/PeaceBearer/code/Encodeur/#818c44a8d4ad
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Laser.lib Sat May 05 15:29:03 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/PeaceBearer/code/Laser/#7bb5d564af90
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Moteur.lib Sat May 05 15:29:03 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/PeaceBearer/code/Moteur/#19cff7a4b43e
--- a/Motor.lib Tue Nov 23 16:19:19 2010 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/NetworkSocketAPI.lib Sat May 05 15:29:03 2018 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/teams/NetworkSocketAPI/code/NetworkSocketAPI/#ea3a618e0818
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Robot.lib Sat May 05 15:29:03 2018 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/PeaceBearer/code/Robot/#90d2871077c9
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IDW01M1v2.lib Sat May 05 15:29:03 2018 +0000 @@ -0,0 +1,1 @@ +http://os.mbed.com/teams/ST/code/X_NUCLEO_IDW01M1v2/#c8697141ce44
--- a/main.cpp Tue Nov 23 16:19:19 2010 +0000
+++ b/main.cpp Sat May 05 15:29:03 2018 +0000
@@ -1,13 +1,217 @@
-// Sweep the motor speed from full-speed reverse (-1.0) to full speed forwards (1.0)
+#include "mbed.h"
+#include "iostream"
+#include "Moteur.h"
+#include "Encodeur.h"
+#include "Robot.h"
+#include "VL53L0X.h"
+#include "SpwfInterface.h"
+#include "TCPSocket.h"
+
+using namespace std;
+
+Moteur moteurGauche(D3, D12, D4); // pwm, avancer, reculer
+Moteur moteurDroit(D11, D13, D5);
-#include "mbed.h"
-#include "Motor.h"
+Encodeur encodeurGauche(A2);
+Encodeur encodeurDroit(A4);
+
+PwmOut servoMoteur(PC_9);
+Serial pc(USBTX, USBRX);
-Motor m(p23, p6, p5); // pwm, fwd, rev
+Serial bluetooth(A0, A1);
+
+DigitalOut shutdown1_pin(PC_6); /*range1_XSHUT*/
+DevI2C devI2c(D14, D15);
+VL53L0X laser(&devI2c, &shutdown1_pin, NC);
+
+SpwfSAInterface spwf(D8, D2, false);
+
+TCPSocket socket(&spwf);
+
+void envoie(char buffer[100]);
int main() {
- for (float s= -1.0; s < 1.0 ; s += 0.01) {
- m.speed(s);
- wait(0.02);
+
+ int* tabPortee;
+ tabPortee = new int[3];
+
+ tabPortee[0] = 0;
+ tabPortee[1] = 0;
+ tabPortee[2] = 0;
+
+ Robot robot(moteurGauche, moteurDroit, &encodeurGauche, &encodeurDroit, servoMoteur, laser, tabPortee);
+
+ int err;
+ //char * ssid = "Zte-Mobile";
+ //char * seckey = "Meximieux01800";
+ char * ssid = "Python";
+ char * seckey = "pythonserveur";
+
+ pc.printf("\r\n\n\nPHASE D'INITIALISATION DU ROBOT\n");
+ pc.printf("\rConnection a AP...\n");
+
+ if(spwf.connect(ssid, seckey, NSAPI_SECURITY_WPA2)) {
+ pc.printf("\rConnecte\n\n");
+ } else {
+ pc.printf("\rErreur de Connection\n\n");
+ return -1;
+ }
+
+ const char *ip = spwf.get_ip_address();
+ const char *mac = spwf.get_mac_address();
+
+ pc.printf("\rIP Addresse : %s\n", (ip) ? ip : "Pas d' IP");
+ pc.printf("\rMAC Addresse: %s\n", (mac) ? mac : "Pas de MAC");
+
+ SocketAddress addr(&spwf, "st.com");
+ pc.printf("\rst.com: %s\n", addr.get_ip_address());
+
+ pc.printf("\rConnecte au serveur\n");
+
+ //err = socket.connect("192.168.43.68", 8080);
+ err = socket.connect("192.168.1.101", 8080);
+ //err = socket.connect("192.168.1.150", 8080);
+ if(err!=0) {
+ pc.printf("\rImpossible de se connecter au socket, erreur = %d!!\r\n", err);
+ return -1;
+ } else pc.printf("\rConnecte au serveur hote\r\n\n");
+
+ int boucle(1);
+ int fin(0);
+ char commande;
+ double distanced;
+ double distanceg;
+ int distg;
+ int distd;
+ int count = 0;
+
+ pc.baud(9600);
+ bluetooth.baud(9600);
+ laser.init_sensor(0x56);
+
+ robot.encodeurs_zero();
+
+ while(fin == 0) {
+
+ cout << "\rEN ATTENTE D'UNE COMMANDE..." << endl;
+ while (boucle) {
+ if(bluetooth.readable()) {
+ commande = bluetooth.getc();
+ boucle = 0;
+ }
+ }
+
+ boucle = 1;
+ char buffer[100];
+
+ switch(commande) {
+ case '1':
+ robot.roues_rouler(GO);
+ cout << "\rGO" << endl;
+ robot.encodeurs_afficher();
+ break;
+
+ case '2':
+ robot.roues_rouler(BACK);
+ cout << "\rBACK" << endl;
+ robot.encodeurs_afficher();
+ break;
+
+ case '3':
+ robot.roues_rouler(GO_GAUCHE);
+ cout << "\rGO_GAUCHE" << endl;
+ robot.encodeurs_afficher();
+ break;
+
+ case '4':
+ robot.roues_rouler(GO_DROITE);
+ cout << "\rGO_DROITE" << endl;
+ robot.encodeurs_afficher();
+ break;
+
+ case '5':
+ robot.roues_rouler(GAUCHE);
+ cout << "\rGAUCHE" << endl;
+ robot.encodeurs_afficher();
+ break;
+
+ case '6':
+ robot.roues_rouler(DROITE);
+ cout << "\rDROITE" << endl;
+ robot.encodeurs_afficher();
+ break;
+
+ case '7':
+ robot.roues_rouler(FULLBACK);
+ cout << "\rFULLBACK" << endl;
+ robot.encodeurs_afficher();
+ break;
+
+ case '8':
+ cout << "\rBALAYER" << endl;
+ robot.roues_rouler(BALAYER);
+
+ distanced = robot.distanceDroit();
+ distanceg = robot.distanceGauche();
+ distd = static_cast<int>(distanced);
+ distg = static_cast<int>(distanceg);
+
+ sprintf(buffer, "%d", distg);
+ cout << "\r\nEnvoie de la distance parcourue par la roue gauche" << endl;
+ envoie(buffer);
+
+ sprintf(buffer, "%d", distd);
+ cout << "\rEnvoie de la distance parcourue par la roue droite" << endl;
+ envoie(buffer);
+
+ robot.encodeurs_zero();
+
+ cout << "\rDISTANCE 1 =" << robot.getTabPortee(0) << endl;
+ cout << "\rDISTANCE 2 = " << robot.getTabPortee(1) << endl;
+ cout << "\rDISTANCE 3 = " << robot.getTabPortee(2) << endl;
+
+ sprintf(buffer, "%d", robot.getTabPortee(0));
+ cout << "\r\nEnvoie de la distance 1" << endl;
+ envoie(buffer);
+
+ sprintf(buffer, "%d", robot.getTabPortee(1));
+ cout << "\rEnvoie de la distance 2" << endl;
+ envoie(buffer);
+
+ sprintf(buffer, "%d", robot.getTabPortee(2));
+ cout << "\rEnvoie de la distance 3" << endl;
+ envoie(buffer);
+ break;
+
+ case '9':
+ fin = 1;
+
+ pc.printf("\rFermeture du Socket\n");
+ socket.close();
+ pc.printf ("\rSocket ferme\n");
+ sprintf(buffer, "%d", 0);
+ pc.printf("\rDonnee envoyee\n");
+ count = socket.send(buffer, sizeof buffer);
+ spwf.disconnect();
+ printf ("\rWIFI deconnecte...\n\n\n");
+
+ break;
+ }
+ robot.roues_stop();
}
}
+
+void envoie(char buffer[100]) {
+ int count = 0;
+ count = socket.send(buffer, sizeof buffer);
+
+ if(count > 0) {
+ pc.printf("\rDonnee envoyee: ");
+ buffer [count]='\0';
+ printf("%s\n\n", buffer);
+ }
+
+ else pc.printf("\rImpossible d'envoyer la donnee\n\n");
+}
+
+
--- a/mbed.bld Tue Nov 23 16:19:19 2010 +0000 +++ b/mbed.bld Sat May 05 15:29:03 2018 +0000 @@ -1,1 +1,1 @@ -http://mbed.org/users/mbed_official/code/mbed/builds/e2ac27c8e93e +http://mbed.org/users/mbed_official/code/mbed/builds/994bdf8177cb \ No newline at end of file