Diff: main.cpp

Revision:

107:0965c72c798e

Parent:

105:ed03c03b353e

Child:

108:0fbfc4b71626

--- a/main.cpp	Fri Nov 22 16:00:04 2019 +0000
+++ b/main.cpp	Thu Mar 24 21:23:09 2022 +0000
@@ -5,19 +5,81 @@
 
 #include "mbed.h"
 #include "platform/mbed_thread.h"
+#include <string.h>
+#include <stdio.h>
 
 
 // Blinking rate in milliseconds
 #define BLINKING_RATE_MS                                                    500
 
+AnalogIn capteurIR_G(A0);
+AnalogIn capteurIR_D(A2);
+
+PwmOut propulsion(D9);
+PwmOut direction(D6);
+
+DigitalIn BP1(D2);
+DigitalIn BP2(D3);
+
+DigitalOut led(LED1);
+
+static BufferedSerial serial_port(USBTX, USBRX,115200);
+SPISlave device(D11, D12, D13, A3); // mosi, miso, sclk, ssel
 
 int main()
 {
-    // Initialise the digital pin LED1 as an output
-    DigitalOut led(LED1);
-
+    char text[50] = {};
+    uint32_t bp1,bp1_old = 1;
+    uint32_t bp2,bp2_old = 1;
+    uint32_t pulsewidth_direction = 1100;
+    uint16_t capteurIR_g,capteurIR_d;
+    propulsion.period_us(20000);
+    propulsion.pulsewidth_us(1500);
+    direction.period_us(20000);
+    direction.pulsewidth_us(pulsewidth_direction);
     while (true) {
-        led = !led;
-        thread_sleep_for(BLINKING_RATE_MS);
+        bp1 = BP1.read();
+        bp2 = BP2.read();
+        
+        if(!bp1 && bp1_old)
+        {
+            led = !led;
+            if(pulsewidth_direction >1000)
+            {
+                pulsewidth_direction -= 10;
+            }
+            direction.pulsewidth_us(pulsewidth_direction);
+            sprintf(text,"pulsewidth_direction = %d\n\r",pulsewidth_direction);
+            serial_port.write(text,strlen(text));
+            capteurIR_g = capteurIR_G.read_u16();
+            sprintf(text,"capteurIR G = %d\n\r",capteurIR_g);
+            serial_port.write(text,strlen(text));
+        }
+        
+        if(!bp2 && bp2_old)
+        {
+            if(pulsewidth_direction < 1300)
+            {
+                pulsewidth_direction += 10;
+            }
+            direction.pulsewidth_us(pulsewidth_direction);
+            sprintf(text,"pulsewidth_direction = %d\n\r",pulsewidth_direction);
+            serial_port.write(text,strlen(text));
+            capteurIR_d = capteurIR_D.read_u16();
+            sprintf(text,"capteurIR D = %d\n\r",capteurIR_d);
+            serial_port.write(text,strlen(text));
+        }
+        
+        if (device.receive()) {
+            int v = device.read();   // Read byte from master
+            v = (v + 1) % 0x100;     // Add one to it, modulo 256
+            device.reply(v);         // Make this the next reply
+            sprintf(text,"valeur du caractere recu SPI : %d\n\r",v);
+            serial_port.write(text,strlen(text));
+        }
+        
+        bp1_old = bp1;
+        bp2_old = bp2;
+        //thread_sleep_for(BLINKING_RATE_MS);
     }
 }