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Dependencies: AX12 Servo VL6180x X_NUCLEO_COMMON X_NUCLEO_IHM01A1 mbed
main.cpp
- Committer:
- julientiron
- Date:
- 2016-05-06
- Revision:
- 0:88fd29503679
File content as of revision 0:88fd29503679:
/** ****************************************************************************** * @file main.cpp * @author Julien Tiron, FIP Télécom Bretagne * @version V1.0.0 * @date March 23th, 2016 * @brief DoorCloser robot main code ****************************************************************************** **/ /* Includes ------------------------------------------------------------------*/ #include "mbed.h" #include "DevSPI.h" #include "l6474_class.h" #include "DevI2C.h" #include "VL6180x.h" #include "AX12.h" #include "Servo.h" /* Definitions ---------------------------------------------------------------*/ #define VL6180X_ADDRESS 0x29 /* Variables -----------------------------------------------------------------*/ /* Start and Stop Component */ InterruptIn startup(PC_1); Ticker pwm_ticker; Timeout game_length; volatile bool start = 1; volatile bool end = 1; char data = 0x08 | (char)64; bool tag = true; int i2cAddres=0x70; // Address of DS1307 is 0x68 (7 bit address) int i2c8BitAddres= i2cAddres <<1; // Convert to 8bit addressing used by mbed Servo myservo(D5); PwmOut parasol(A3); /* Motor Control Component */ L6474 *motor1; L6474 *motor2; DigitalInOut sdaDummy(D14); DigitalInOut sclDummy(D15); /* Distance Sensors Component */ VL6180x sensor(D14, D15, VL6180X_ADDRESS<<1); /* Functions -----------------------------------------------------------------*/ void go() { start = 0; } void stop() { end = 0; } void init_sensor() { } void switch_sensor(int number) { } void pwm(); void deplacement(int distanceEnCm, bool sens) { int nbPas = distanceEnCm*166.7; if(sens) { motor1->Move(StepperMotor::BWD,nbPas); motor2->Move(StepperMotor::FWD,nbPas); } else { motor1->Move(StepperMotor::FWD,nbPas); motor2->Move(StepperMotor::BWD,nbPas); } motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor1->HardStop(); motor2->HardStop(); } void rotation(int angleEnDegre, int diametre) { int deplacementEnCm = (1000*angleEnDegre/360)*(diametre)*3.14; int nbPas = 160*deplacementEnCm; nbPas /= 990; /* int deplacementEnCm = (int)((float) angleEnDegre/ (float) 360)*((float) diametre)* (float) 3.14; int nbPas = 160*deplacementEnCm; nbPas *= 2;*/ printf("%d \n\r", nbPas); motor2->Move(StepperMotor::FWD,nbPas); motor1->Move(StepperMotor::FWD,nbPas); motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor1->HardStop(); motor2->HardStop(); } /* Main ----------------------------------------------------------------------*/ int main() { /*----- Initialization. -----*/ /* Initializing SPI bus. */ DevSPI dev_spi(D11, D12, D13); myservo.calibrate(0.00095, 90.0); // Calibrate the servo parasol.period_ms(10); parasol.pulsewidth_ms(1); /* Initializing Motor Control Components. */ motor1 = new L6474(D2, D8, D7, D9, D10, dev_spi); motor2 = new L6474(D2, D8, D4, D3, D10, dev_spi); if (motor1->Init() != COMPONENT_OK) exit(EXIT_FAILURE); if (motor2->Init() != COMPONENT_OK) exit(EXIT_FAILURE); sdaDummy.mode(PullUp); sclDummy.mode(PullUp); //pwm_ticker.attach(&pwm, 0.1); /* Initializing AX-12 motors */ /* AX12 ax12_1 (D1, D0, 1, 1000000); AX12 ax12_2 (D1, D0, 2, 1000000); AX12 ax12_3 (D1, D0, 3, 1000000); AX12 ax12_4 (D1, D0, 4, 1000000); AX12 ax12_5 (D1, D0, 5, 1000000);*/ /* Interrupt to start the robot */ startup.fall(&go); /*motor1->Move(StepperMotor::BWD,6000); motor2->Move(StepperMotor::FWD,6000); motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor1->HardStop(); motor2->HardStop();*/ //deplacement(10, 0); /* rotation(90, 30); wait(2); rotation(45, 30); wait(2); rotation(180, 30); wait(2); rotation(45, 30);*/ /*motor1->Move(StepperMotor::FWD,6000); motor2->Move(StepperMotor::BWD,6000); motor1->WaitWhileActive(); motor2->WaitWhileActive(); motor1->HardStop(); motor2->HardStop(); */ while(start) { /* Waiting code */ /* ax12_1.SetSpeed(70); ax12_2.SetSpeed(70); ax12_3.SetSpeed(70); ax12_4.SetSpeed(70); ax12_5.SetSpeed(70);*/ //wait_ms(100); } /* Interrupt to stop the robot */ game_length.attach(&stop, 90); //1 minutes 30 secondes pour la Coupe while(end) { //deplacement(60, 1); //motor1->Run(StepperMotor::FWD); //motor2->Run(StepperMotor::BWD); //wait(1); //motor1->Run(StepperMotor::BWD); //motor2->Run(StepperMotor::FWD); wait_ms(100); motor1->Move(StepperMotor::BWD,12000); motor2->Move(StepperMotor::FWD,12000); while((sensor.getDistance()>50) && end) { //Tant que la distance est superieure on continue d'avancer wait_ms(20); printf("1"); } } parasol.write(0.5); printf("2"); motor1->HardStop(); motor2->HardStop(); } void pwm() { }