TP_presa
Dependencies: SRF08 Servo mbed
CAR.cpp
- Committer:
- Remi95
- Date:
- 2017-07-03
- Revision:
- 11:8853764285f9
- Parent:
- 7:7d3c6326cbc3
File content as of revision 11:8853764285f9:
#include "mbed.h" #include "CAR.h" #define Adress 128 DigitalOut myled1(LED1); DigitalOut myled2(LED2); DigitalOut myled3(LED3); DigitalOut myled4(LED4); //DigitalOut S2 (p11); //Serial bt(p13,p14); Serial sbt(p9, p10); // tx, rx //AnalogIn btri (p28); //char action; int iCoefVirage=0.44; //string sprintf; CAR::CAR(PinName TX, PinName RX) { Serial sbt (TX ,RX ); } //CAR::~CAR() { //} void CAR::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 CAR::emiss(char Code, char Vit) { sbt.putc(Adress); sbt.putc(Code); sbt.putc(Vit); sbt.putc((Adress+Code+Vit) & 127); } void CAR::myVirageGauche (char Vit , char Ang) { emiss(1,Vit); emiss(4,Vit); wait(0.792); //Remplacer par (Ang*iCoefVirage)/Vit emiss(1,0); emiss(4,0); } void CAR::myVirageDroite (char Vit , char Ang) { emiss(0,Vit); emiss(5,Vit); wait(0.792); emiss(0,0); emiss(5,0); } void CAR::avancer(char Vit) { emiss(0,Vit); emiss(4,Vit); } void CAR::reculer(char Vit) { emiss(1,Vit); emiss(5,Vit); } void CAR::arreter(void) { emiss(0,0); emiss(4,0); } void CAR::tourner_droite(char Vit) { emiss(0,Vit); emiss(5,Vit); wait(0.250); emiss(0,0); emiss(5,0); } void CAR::tourner_gauche(char Vit) { emiss(1,Vit); emiss(4,Vit); wait(0.250); //0.125 emiss(1,0); emiss(4,0); } void CAR::demi_tour_droite(char Vit) { myVirageDroite(Vit,180); } void CAR::demi_tour_gauche(char Vit) { myVirageGauche(Vit,180); }