Rémi Gui / Mbed 2 deprecated Auto_Motor

TP_presa

Dependencies:   SRF08 Servo mbed

main.cpp@11:8853764285f9, 2017-07-03 (annotated)

Committer:
Remi95
Date:
Mon Jul 03 09:42:02 2017 +0000
Revision:
11:8853764285f9
Parent:
10:cf2719d4b93f 
finished

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Remi95 0:99cb324a2329 1 #include "mbed.h"
Remi95 6:d61052f4ab1e 2 #include "CAR.h"
Remi95 5:8c2101d3ecef 3 #include "SRF08.h"
Remi95 7:7d3c6326cbc3 4 #include "Servo.h"
Remi95 0:99cb324a2329 5
Remi95 10:cf2719d4b93f 6 #define BAT 7.5
Remi95 10:cf2719d4b93f 7
Remi95 7:7d3c6326cbc3 8 DigitalOut S2 (p11);
Remi95 7:7d3c6326cbc3 9 AnalogIn opt (p15);
Remi95 10:cf2719d4b93f 10 //AnalogIn batterie (p20);
Remi95 6:d61052f4ab1e 11 Serial bth(p13,p14);
Remi95 7:7d3c6326cbc3 12 //Serial sbt(p9, p10); // tx, rx
Remi95 7:7d3c6326cbc3 13 SRF08 srf08(p28, p27, 0xE0);
Remi95 7:7d3c6326cbc3 14 //Servo myservo(p26);
Remi95 7:7d3c6326cbc3 15
Remi95 7:7d3c6326cbc3 16 float aMes[]= {0,0,0};
Remi95 7:7d3c6326cbc3 17 PwmOut servo(p26);
Remi95 7:7d3c6326cbc3 18 int iState = 1;
Remi95 7:7d3c6326cbc3 19 bool bState =0;
Remi95 7:7d3c6326cbc3 20
Remi95 7:7d3c6326cbc3 21 char Adress = 128;
Remi95 7:7d3c6326cbc3 22 char action;
Remi95 6:d61052f4ab1e 23 CAR robot(p9,p10);
Remi95 6:d61052f4ab1e 24 //CAR robot;
Remi95 4:aafb0016ed84 25
Remi95 7:7d3c6326cbc3 26 void act()
Remi95 7:7d3c6326cbc3 27 {
Remi95 10:cf2719d4b93f 28 //bth.printf("Batterie : %.2f\n\r", batterie.read()*36.30);
Remi95 7:7d3c6326cbc3 29 action=bth.getc();
Remi95 7:7d3c6326cbc3 30 switch(action) {
Remi95 7:7d3c6326cbc3 31 case 'a':
Remi95 7:7d3c6326cbc3 32 bth.printf("avancer\n\r");
Remi95 7:7d3c6326cbc3 33 robot.avancer(70);
Remi95 7:7d3c6326cbc3 34 break;
Remi95 7:7d3c6326cbc3 35 case 's':
Remi95 7:7d3c6326cbc3 36 bth.printf("stop\n\r");
Remi95 7:7d3c6326cbc3 37 robot.arreter();
Remi95 7:7d3c6326cbc3 38 break;
Remi95 7:7d3c6326cbc3 39 case 'u':
Remi95 7:7d3c6326cbc3 40 bth.printf("arret\n\r");
Remi95 7:7d3c6326cbc3 41 robot.arreter();
Remi95 7:7d3c6326cbc3 42 break;
Remi95 7:7d3c6326cbc3 43 case 'r':
Remi95 7:7d3c6326cbc3 44 bth.printf("reculer\n\r");
Remi95 7:7d3c6326cbc3 45 robot.reculer(70);
Remi95 7:7d3c6326cbc3 46 break;
Remi95 7:7d3c6326cbc3 47 case 'd':
Remi95 7:7d3c6326cbc3 48 bth.printf("droite\n\r");
Remi95 7:7d3c6326cbc3 49 robot.tourner_droite(70);
Remi95 7:7d3c6326cbc3 50 break;
Remi95 7:7d3c6326cbc3 51 case 'g':
Remi95 7:7d3c6326cbc3 52 bth.printf("gauche\n\r");
Remi95 7:7d3c6326cbc3 53 robot.tourner_gauche(70);
Remi95 7:7d3c6326cbc3 54 break;
Remi95 7:7d3c6326cbc3 55 case 'h':
Remi95 7:7d3c6326cbc3 56 bth.printf("demi tour horaire\n\r");
Remi95 7:7d3c6326cbc3 57 robot.demi_tour_droite(100);
Remi95 7:7d3c6326cbc3 58 break;
Remi95 7:7d3c6326cbc3 59 case'l':
Remi95 7:7d3c6326cbc3 60 bth.printf("demi tour left\n\r");
Remi95 7:7d3c6326cbc3 61 robot.demi_tour_gauche(100);
Remi95 7:7d3c6326cbc3 62 break;
Remi95 7:7d3c6326cbc3 63 case 'o':
Remi95 7:7d3c6326cbc3 64 bState = !bState;
Remi95 9:53a6a4e0db9f 65 //iState = 0;
Remi95 7:7d3c6326cbc3 66 break;
Remi95 7:7d3c6326cbc3 67 }
Remi95 7:7d3c6326cbc3 68 action='0';
Remi95 7:7d3c6326cbc3 69 }
Remi95 7:7d3c6326cbc3 70
Remi95 7:7d3c6326cbc3 71
Remi95 7:7d3c6326cbc3 72 ////////////////////////////////////////////
Remi95 7:7d3c6326cbc3 73
Remi95 7:7d3c6326cbc3 74 int main()
Remi95 7:7d3c6326cbc3 75 {
Remi95 7:7d3c6326cbc3 76 S2=0;
Remi95 7:7d3c6326cbc3 77 int visu;
Remi95 7:7d3c6326cbc3 78 bth.baud(57600);
Remi95 7:7d3c6326cbc3 79 bth.attach(&act);
Remi95 8:ea8db9aacdfb 80 bState = 1;
Remi95 7:7d3c6326cbc3 81 servo.period(0.02);
Remi95 7:7d3c6326cbc3 82 while(1) {
Remi95 7:7d3c6326cbc3 83 if (bState) {
Remi95 7:7d3c6326cbc3 84 switch (iState) {
Remi95 7:7d3c6326cbc3 85
Remi95 7:7d3c6326cbc3 86 case 0:
Remi95 7:7d3c6326cbc3 87
Remi95 8:ea8db9aacdfb 88 if (srf08.read() <40 and srf08.read() >0 ) {
Remi95 7:7d3c6326cbc3 89 iState = 1;
Remi95 7:7d3c6326cbc3 90 bth.printf("stop\n\r");
Remi95 7:7d3c6326cbc3 91 robot.arreter();
Remi95 7:7d3c6326cbc3 92 } else {
Remi95 7:7d3c6326cbc3 93 servo.write(0.08);
Remi95 7:7d3c6326cbc3 94 bth.printf("avancer\n\r");
Remi95 7:7d3c6326cbc3 95 robot.avancer(50);
Remi95 7:7d3c6326cbc3 96 }
Remi95 6:d61052f4ab1e 97 break;
Remi95 7:7d3c6326cbc3 98
Remi95 7:7d3c6326cbc3 99 case 1 :
Remi95 7:7d3c6326cbc3 100 servo.write(0.05);
Remi95 8:ea8db9aacdfb 101 wait (0.4);
Remi95 7:7d3c6326cbc3 102 aMes[1] = srf08.read();
Remi95 7:7d3c6326cbc3 103
Remi95 8:ea8db9aacdfb 104 servo.write(0.095);
Remi95 8:ea8db9aacdfb 105 wait (0.4);
Remi95 7:7d3c6326cbc3 106 aMes[2]= srf08.read();
Remi95 7:7d3c6326cbc3 107
Remi95 7:7d3c6326cbc3 108 servo.write(0.08);
Remi95 8:ea8db9aacdfb 109
Remi95 8:ea8db9aacdfb 110 bth.printf("capt 1 : %.2f capt 2 : %.2f",aMes[1], aMes[2]);
Remi95 8:ea8db9aacdfb 111 //if (aMes[1] <80 and aMes[1] >0)
Remi95 8:ea8db9aacdfb 112 if (aMes[2]>40) {
Remi95 7:7d3c6326cbc3 113 action = 'g';
Remi95 7:7d3c6326cbc3 114 bth.printf("gauche\n\r");
Remi95 7:7d3c6326cbc3 115 robot.tourner_gauche(70);
Remi95 8:ea8db9aacdfb 116 //} else if (aMes[2] <80 and aMes[2] >0) {
Remi95 8:ea8db9aacdfb 117 } else if (aMes[1]>40) {
Remi95 7:7d3c6326cbc3 118 bth.printf("droite\n\r");
Remi95 7:7d3c6326cbc3 119 robot.tourner_droite(70);
Remi95 7:7d3c6326cbc3 120 } else {
Remi95 7:7d3c6326cbc3 121 bth.printf("demi tour horaire\n\r");
Remi95 7:7d3c6326cbc3 122 robot.demi_tour_droite(100);
Remi95 7:7d3c6326cbc3 123 }
Remi95 7:7d3c6326cbc3 124 iState = 0;
Remi95 6:d61052f4ab1e 125 break;
Remi95 6:d61052f4ab1e 126 }
Remi95 6:d61052f4ab1e 127 }
Remi95 7:7d3c6326cbc3 128 visu=opt.read_u16();
Remi95 7:7d3c6326cbc3 129 visu=422006/(visu-3475);
Remi95 10:cf2719d4b93f 130 //bth.printf("Measured range : %.2f cm\n",srf08.read());
Remi95 6:d61052f4ab1e 131 }
Remi95 7:7d3c6326cbc3 132 }
Remi95 7:7d3c6326cbc3 133