![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
TP_presa
Dependencies: SRF08 Servo mbed
Diff: main.cpp
- Revision:
- 0:99cb324a2329
- Child:
- 1:5830b7d6a985
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Wed May 31 18:32:54 2017 +0000 @@ -0,0 +1,69 @@ +#include "mbed.h" + +char Adress = 128; + //Address: 130 + //Command : 0 + //Data: 64 + //Checksum: 66 + //Checksum Putc((address + 0 + speed) & 127); + +Serial sbt(p9, p10); // tx, rx + +DigitalOut myled1(LED1); +DigitalOut myled2(LED2); +DigitalOut myled3(LED3); +DigitalOut myled4(LED4); +DigitalOut S2 (p11); + + +void Led (bool l1,bool l2,bool l3,bool l4){ //Fonction pour aider au debug avec les led + + myled1=l1; + myled2=l2; + myled3=l3; + myled4=l4; +} + +void forward(char Vit) { + 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); +} +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); +} +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); +} + + +int main (){ + Led (0,1,0,1); + S2=0; + wait(1); + forward(50); +}