Rémi Gui / Mbed 2 deprecated Auto_Motor

TP_presa

Dependencies:   SRF08 Servo mbed

main.cpp@0:99cb324a2329, 2017-05-31 (annotated)

Committer:
Remi95
Date:
Wed May 31 18:32:54 2017 +0000
Revision:
0:99cb324a2329
Child:
1:5830b7d6a985
Programme original

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Remi95 0:99cb324a2329 1 #include "mbed.h"
Remi95 0:99cb324a2329 2
Remi95 0:99cb324a2329 3 char Adress = 128;
Remi95 0:99cb324a2329 4 //Address: 130
Remi95 0:99cb324a2329 5 //Command : 0
Remi95 0:99cb324a2329 6 //Data: 64
Remi95 0:99cb324a2329 7 //Checksum: 66
Remi95 0:99cb324a2329 8 //Checksum Putc((address + 0 + speed) & 127);
Remi95 0:99cb324a2329 9
Remi95 0:99cb324a2329 10 Serial sbt(p9, p10); // tx, rx
Remi95 0:99cb324a2329 11
Remi95 0:99cb324a2329 12 DigitalOut myled1(LED1);
Remi95 0:99cb324a2329 13 DigitalOut myled2(LED2);
Remi95 0:99cb324a2329 14 DigitalOut myled3(LED3);
Remi95 0:99cb324a2329 15 DigitalOut myled4(LED4);
Remi95 0:99cb324a2329 16 DigitalOut S2 (p11);
Remi95 0:99cb324a2329 17
Remi95 0:99cb324a2329 18
Remi95 0:99cb324a2329 19 void Led (bool l1,bool l2,bool l3,bool l4){ //Fonction pour aider au debug avec les led
Remi95 0:99cb324a2329 20
Remi95 0:99cb324a2329 21 myled1=l1;
Remi95 0:99cb324a2329 22 myled2=l2;
Remi95 0:99cb324a2329 23 myled3=l3;
Remi95 0:99cb324a2329 24 myled4=l4;
Remi95 0:99cb324a2329 25 }
Remi95 0:99cb324a2329 26
Remi95 0:99cb324a2329 27 void forward(char Vit) {
Remi95 0:99cb324a2329 28 sbt.putc(Adress);
Remi95 0:99cb324a2329 29 sbt.putc(0);
Remi95 0:99cb324a2329 30 sbt.putc(Vit);
Remi95 0:99cb324a2329 31 sbt.putc((Adress+0+Vit) & 127);
Remi95 0:99cb324a2329 32
Remi95 0:99cb324a2329 33 sbt.putc(Adress);
Remi95 0:99cb324a2329 34 sbt.putc(4);
Remi95 0:99cb324a2329 35 sbt.putc(Vit);
Remi95 0:99cb324a2329 36 sbt.putc((Adress+4+Vit) & 127);
Remi95 0:99cb324a2329 37 }
Remi95 0:99cb324a2329 38 void avancer(void) {
Remi95 0:99cb324a2329 39 Vit=50;
Remi95 0:99cb324a2329 40 sbt.putc(Adress);
Remi95 0:99cb324a2329 41 sbt.putc(0);
Remi95 0:99cb324a2329 42 sbt.putc(Vit);
Remi95 0:99cb324a2329 43 sbt.putc((Adress+0+Vit) & 127);
Remi95 0:99cb324a2329 44
Remi95 0:99cb324a2329 45 sbt.putc(Adress);
Remi95 0:99cb324a2329 46 sbt.putc(4);
Remi95 0:99cb324a2329 47 sbt.putc(Vit);
Remi95 0:99cb324a2329 48 sbt.putc((Adress+4+Vit) & 127);
Remi95 0:99cb324a2329 49 }
Remi95 0:99cb324a2329 50 void reculer(void) {
Remi95 0:99cb324a2329 51 Vit=50;
Remi95 0:99cb324a2329 52 sbt.putc(Adress);
Remi95 0:99cb324a2329 53 sbt.putc(1);
Remi95 0:99cb324a2329 54 sbt.putc(Vit);
Remi95 0:99cb324a2329 55 sbt.putc((Adress+0+Vit) & 127);
Remi95 0:99cb324a2329 56
Remi95 0:99cb324a2329 57 sbt.putc(Adress);
Remi95 0:99cb324a2329 58 sbt.putc(5);
Remi95 0:99cb324a2329 59 sbt.putc(Vit);
Remi95 0:99cb324a2329 60 sbt.putc((Adress+4+Vit) & 127);
Remi95 0:99cb324a2329 61 }
Remi95 0:99cb324a2329 62
Remi95 0:99cb324a2329 63
Remi95 0:99cb324a2329 64 int main (){
Remi95 0:99cb324a2329 65 Led (0,1,0,1);
Remi95 0:99cb324a2329 66 S2=0;
Remi95 0:99cb324a2329 67 wait(1);
Remi95 0:99cb324a2329 68 forward(50);
Remi95 0:99cb324a2329 69 }