Revision 9:f65c5aa1775c, committed 2015-11-23

Comitter:

bouaziz

Date:

Mon Nov 23 23:22:28 2015 +0000

Parent:

8:4b7d6ea9b35b

Commit message:

update ; motor inversion control + get individual sensor function; POPS PAris Sud

Changed in this revision

diff -r 4b7d6ea9b35b -r f65c5aa1775c m3pi.cpp
--- a/m3pi.cpp	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.cpp	Mon Nov 23 23:22:28 2015 +0000
@@ -43,11 +43,11 @@
 }
 
 void m3pi::left_motor (float speed) {
-    motor(0,speed);
+    motor(1,speed);
 }
 
 void m3pi::right_motor (float speed) {
-    motor(1,speed);
+    motor(0,speed);
 }
 
 void m3pi::forward (float speed) {
@@ -112,6 +112,15 @@
     return(fpos);
 }
 
+void m3pi::calibrated_sensors(unsigned short ltab[5]) {
+    unsigned i;
+    _ser.putc(SEND_CALIB_SENSOR_VALUES);
+    for(i=0;i<5;i++){
+        ltab[i] = (unsigned short) _ser.getc();
+        ltab[i] += _ser.getc() << 8;
+    }
+}
+
 char m3pi::sensor_auto_calibrate() {
     _ser.putc(AUTO_CALIBRATE);
     return(_ser.getc());

diff -r 4b7d6ea9b35b -r f65c5aa1775c m3pi.h
--- a/m3pi.h	Thu May 12 13:26:37 2011 +0000
+++ b/m3pi.h	Mon Nov 23 23:22:28 2015 +0000
@@ -32,6 +32,7 @@
 
 #define SEND_SIGNATURE 0x81
 #define SEND_RAW_SENSOR_VALUES 0x86
+#define SEND_CALIB_SENSOR_VALUES 0x87
 #define SEND_TRIMPOT 0xB0
 #define SEND_BATTERY_MILLIVOLTS 0xB1
 #define DO_PLAY 0xB3
@@ -163,7 +164,12 @@
      *   1.0 means the line is on the right
      */
     float line_position (void);
-
+    /** lecture capteurs calibres
+    * @returns tableau val capteurs de gauche à droite 
+    *  0 blanc (reflexion max)
+    *  1000 noir (pas de reflexion)
+    */
+    void calibrated_sensors(unsigned short ltab[5]);
 
     /** Calibrate the sensors. This turns the robot left then right, looking for a line
      *