![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
TP_presa
Dependencies: SRF08 Servo mbed
Diff: main.cpp
- Revision:
- 1:5830b7d6a985
- Parent:
- 0:99cb324a2329
- Child:
- 2:6d12c2d70f19
--- a/main.cpp Wed May 31 18:32:54 2017 +0000 +++ b/main.cpp Wed May 31 18:33:28 2017 +0000 @@ -1,6 +1,7 @@ #include "mbed.h" char Adress = 128; +char Vit =50; //Address: 130 //Command : 0 //Data: 64 @@ -23,47 +24,85 @@ myled3=l3; myled4=l4; } - -void forward(char Vit) { +void emiss(char Code, char Vit_perso){ sbt.putc(Adress); - sbt.putc(0); - sbt.putc(Vit); - sbt.putc((Adress+0+Vit) & 127); - - sbt.putc(Adress); - sbt.putc(4); - sbt.putc(Vit); - sbt.putc((Adress+4+Vit) & 127); + sbt.putc(Code); + sbt.putc(Vit_perso); + sbt.putc((Adress+Code+Vit_perso) & 127); + } + +void forward(char Vit_perso) { + emiss(0,Vit_perso); + emiss(4,Vit_perso); } void avancer(void) { - Vit=50; - sbt.putc(Adress); - sbt.putc(0); - sbt.putc(Vit); - sbt.putc((Adress+0+Vit) & 127); - - sbt.putc(Adress); - sbt.putc(4); - sbt.putc(Vit); - sbt.putc((Adress+4+Vit) & 127); + + emiss(0,Vit); + emiss(4,Vit); } -void reculer(void) { - Vit=50; - sbt.putc(Adress); - sbt.putc(1); - sbt.putc(Vit); - sbt.putc((Adress+0+Vit) & 127); - - sbt.putc(Adress); - sbt.putc(5); - sbt.putc(Vit); - sbt.putc((Adress+4+Vit) & 127); +void arreter(void) { + emiss(0,0); + emiss(4,0); } +void reculer(void) { + + emiss(1,Vit); + emiss(5,Vit); +} +void tourner_droite(void) { + emiss(0,Vit); + emiss(5,Vit); + wait(0.3); + emiss(0,0); + emiss(5,0); +} +void tourner_gauche(void) { + Vit=50; + emiss(1,Vit); + emiss(4,Vit); + wait(0.3); + emiss(1,0); + emiss(4,0); +} +void demi_tour_droite(void) { + + emiss(0,Vit); + emiss(5,Vit); + wait(1); + emiss(0,0); + emiss(5,0); +} +void demi_tour_gauche(void) { + emiss(1,Vit); + emiss(4,Vit); + wait(1); + emiss(1,0); + emiss(4,0); +} int main (){ - Led (0,1,0,1); + while (1){ + Led (1,0,0,0); S2=0; wait(1); - forward(50); + avancer(); + Led (1,1,0,0); + wait(1); + reculer(); + Led (1,1,1,0); + wait(1); + tourner_gauche(); + Led (1,1,1,1); + wait(1); + tourner_droite(); + Led (0,1,1,1); + wait(1); + demi_tour_gauche(); + Led (0,0,1,1); + wait(1); + demi_tour_droite(); + Led (0,0,0,1); + + } }