robot S2 pour CE2 avec ROS
Dependencies: mbed rosserial_mbed_lib
main.cpp@0:939d180d8f7f, 2019-10-09 (annotated)
- Committer:
- jlsalvat
- Date:
- Wed Oct 09 13:54:19 2019 +0000
- Revision:
- 0:939d180d8f7f
premier test robot S2 CE2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jlsalvat | 0:939d180d8f7f | 1 | #include "mbed.h" |
jlsalvat | 0:939d180d8f7f | 2 | |
jlsalvat | 0:939d180d8f7f | 3 | DigitalOut myled(LED1); |
jlsalvat | 0:939d180d8f7f | 4 | DigitalOut av_ar_G(p12); |
jlsalvat | 0:939d180d8f7f | 5 | DigitalOut av_ar_D(p11); |
jlsalvat | 0:939d180d8f7f | 6 | PwmOut pwm_G(p23); |
jlsalvat | 0:939d180d8f7f | 7 | PwmOut pwm_D(p22); |
jlsalvat | 0:939d180d8f7f | 8 | Serial serial(p13,p14); |
jlsalvat | 0:939d180d8f7f | 9 | |
jlsalvat | 0:939d180d8f7f | 10 | void InitMot(){ |
jlsalvat | 0:939d180d8f7f | 11 | av_ar_G=av_ar_D=0; |
jlsalvat | 0:939d180d8f7f | 12 | pwm_G.pulsewidth_us(0); |
jlsalvat | 0:939d180d8f7f | 13 | pwm_G.period_us(100); |
jlsalvat | 0:939d180d8f7f | 14 | pwm_D.pulsewidth_us(0); |
jlsalvat | 0:939d180d8f7f | 15 | pwm_D.period_us(100); |
jlsalvat | 0:939d180d8f7f | 16 | } |
jlsalvat | 0:939d180d8f7f | 17 | |
jlsalvat | 0:939d180d8f7f | 18 | int main() { |
jlsalvat | 0:939d180d8f7f | 19 | InitMot(); |
jlsalvat | 0:939d180d8f7f | 20 | while(1) { |
jlsalvat | 0:939d180d8f7f | 21 | serial.printf("A\n"); |
jlsalvat | 0:939d180d8f7f | 22 | myled = 1; |
jlsalvat | 0:939d180d8f7f | 23 | wait(0.2); |
jlsalvat | 0:939d180d8f7f | 24 | myled = 0; |
jlsalvat | 0:939d180d8f7f | 25 | wait(0.2); |
jlsalvat | 0:939d180d8f7f | 26 | } |
jlsalvat | 0:939d180d8f7f | 27 | } |