File content as of revision 0:62d65a8de2ae:

/*#include "mbed.h"
#include "MMA7660.h"
MMA7660 MMA(p28,p27);
int main()
{
    void init();
    float fx,fy,fz;
    printf ("\n\rDebut0");
    while(1) {
        fx=MMA.x();
        fy=MMA.y();
        fz=MMA.z();
        printf ("x=%f,y=%f, z=%f\n\r",fx,fy,fz);
        wait(1);
    }
}
*/
#include "mbed.h"
#include "MMA7660.h"
// période moteur
#define PWMPeriod 100
#define PI 3.14159265358979323846264338327950
// Moteurs
PwmOut mot1(p23);
PwmOut mot2(p22);
DigitalOut sensG(p12);
DigitalOut sensD(p11);
// Boutons
DigitalIn bpD(p29);
// Tickers
Ticker actionChaqueSeconde;
MMA7660 MMA(p28, p27);
DigitalOut connectionLed(LED1);
DigitalOut led1(LED4);
DigitalOut led2(LED3);
DigitalOut led3(LED2);
void calculAngle(void);
void ChangementVitesse(float, int);
int etat;
float angleTot, angle1, angle2, angle3, angle4, angle5, angle6, angle7, angle8;
int main()

{
    mot1.period_us(PWMPeriod);
    mot2.period_us(PWMPeriod);
    mot1.pulsewidth_us(PWMPeriod);
    mot2.pulsewidth_us(PWMPeriod);
    bpD.mode(PullUp);
    ChangementVitesse(0,1);
    ChangementVitesse(0,2);
    actionChaqueSeconde.attach(&calculAngle, 0.02);
    if (MMA.testConnection()){
        connectionLed = 1;
        }
    led1 = led2 = led3 = 0;
    while(1) {
        switch(etat) {
            case 0:
                led1 = led2 = led3 = 0;
                ChangementVitesse(0,1);
                ChangementVitesse(0,2);
                if(bpD.read() == 0)
                    etat++;
                break;
            case 1:
                led1 = led2 = led3 = 0;
                led1 = 1;
                ChangementVitesse(48,1);
                ChangementVitesse(50,2);
                if(angleTot >  13) {
                    ChangementVitesse(60,1);
                    ChangementVitesse(70,2);
                    etat++;
                }
                break;
            case 2:
                led1 = led2 = led3 = 0;
                led2 = 1;
                if(angleTot <  7) {
                    ChangementVitesse(0,1);
                    ChangementVitesse(0,2);
                    led1 = led2 = 1;
                    wait(3);
                    led1 = led2 = led3 = 0;
                    led3 = 1;
                    ChangementVitesse(45,1);
                    ChangementVitesse(50,2);
                    wait(2.5);
                    etat = 0;
                }
                break;
        }
    }
}

void calculAngle()
{
    angle8 = angle7;
    angle7 = angle6;
    angle6 = angle5;
    angle5 = angle4;
    angle4 = angle3;
    angle3 = angle2;
    angle2 = angle1;
    angle1 = (1 - MMA.z()) * 90;
    angleTot = (angle1 + angle2 + angle3 + angle4+ angle5 + angle6 + angle7 + angle8) / 8;
    if (angleTot < 0) { // car très rarement négatif
        angleTot *= -1;
    }
}

void ChangementVitesse(float fVitesse, int iMoteur)
{
    if(fVitesse > 100) {
        fVitesse = 100;
    } else if(fVitesse < -100) {
        fVitesse = -100;
    }
    if(iMoteur == 1) {
        if(fVitesse > 0) { // positive
            mot1.pulsewidth_us(fVitesse);
            sensG.write(0); // avance
        } else {
            mot1.pulsewidth_us(PWMPeriod - (fVitesse * -1));
            sensG.write(1); // recule
        }
    } else if (iMoteur == 2) {
        if(fVitesse > 0) { // positive
            mot2.pulsewidth_us(fVitesse);
            sensD.write(0); // avance
        } else {
            mot2.pulsewidth_us(PWMPeriod - (fVitesse * -1));
            sensD.write(1); // recule
        }
    } else {
        printf("erreur iMoteur incorrect (1 ou 2) dans fonction ChangementVitesse");
    }

}