Revision 2:41e56a06c580, committed 2019-03-20

Comitter:

hamaint

Date:

Wed Mar 20 00:28:46 2019 +0000

Parent:

1:11cbd2bf65d7

Commit message:

version shlag mais c++ en mode bg;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Asservissement.lib	Wed Mar 20 00:28:46 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Polybot-Grenoble/code/Asservissement/#3827dab9a2eb

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/L298.lib	Wed Mar 20 00:28:46 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Polybot-Grenoble/code/L298/#e6ed3d459a99

--- a/Moteur.cpp	Tue Mar 19 19:24:04 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,51 +0,0 @@
-#include "Moteur.h"
-
-
-#define PERIODE_PWM_MOTEUR 0.001
-
-PwmOut mypwm_a(D6);
-PwmOut mypwm_b(D11);
-
-DigitalOut in1(D7);
-DigitalOut in2(D8);
-DigitalOut in3(D9);
-DigitalOut in4(D10);
-
-
-
-void moteur_init()
-{
-    mypwm_a.period(PERIODE_PWM_MOTEUR);
-    mypwm_b.period(PERIODE_PWM_MOTEUR);
-    mypwm_a.pulsewidth(0);
-    mypwm_b.pulsewidth(0);
-}
-
-void moteur_a(float percent)
-{
-
-    if (percent>=0) {
-        in1 = 1;
-        in2 = 0;
-    } else {
-        in1 = 0;
-        in2 = 1;
-        percent = -1 * percent;
-    }
-    mypwm_a.pulsewidth((float)percent*(float)PERIODE_PWM_MOTEUR);
-}
-
-void moteur_b(float percent)
-{
-
-    if (percent>=0) {
-        in4 = 1;
-        in3 = 0;
-    } else {
-        in4 = 0;
-        in3 = 1;
-        percent = -1 * percent;
-    }
-
-    mypwm_b.pulsewidth((float)percent*(float)PERIODE_PWM_MOTEUR);
-}

--- a/Moteur.h	Tue Mar 19 19:24:04 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,10 +0,0 @@
-#ifndef MOTEUR_H
-#define MOTEUR_H
-
-#include "mbed.h"
-
-void moteur_init();
-void moteur_a(float percent);
-void moteur_b(float percent);
-
-#endif
\ No newline at end of file

--- a/main.cpp	Tue Mar 19 19:24:04 2019 +0000
+++ b/main.cpp	Wed Mar 20 00:28:46 2019 +0000
@@ -1,6 +1,6 @@
 #include "mbed.h"
 #include "QEI.h"
-#include "Moteur.h"
+#include "L298.h"
 #include "math.h"
 
 Serial pc(SERIAL_TX,SERIAL_RX);
@@ -40,6 +40,8 @@
 float PID(float erreur,float type);
  
 int main() {
+    
+    L298 pontH();
 
     float distance = 0;
     float orientation_deg = 90;
@@ -64,9 +66,7 @@
     
     float orientation_dist = orientation_deg * (float)DISTANCE_ENTRE_ROUES * 3.14 / 360;
     
-    printf("%f\n\r",orientation_dist);
-    
-    moteur_init();
+    //moteur_init();
     
     while(1)
     {
@@ -102,8 +102,8 @@
             n_commande_b = -LIMITE_VITESSE;
             
         
-        moteur_a(n_commande_a);
-        moteur_b(n_commande_b);
+        //moteur_a(n_commande_a);
+        //moteur_b(n_commande_b);
         wait(FREQ_CORRECTION);     
         
     }

--- a/mbed.bld	Tue Mar 19 19:24:04 2019 +0000
+++ b/mbed.bld	Wed Mar 20 00:28:46 2019 +0000
@@ -1,1 +1,1 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/3a7713b1edbc
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file