Revision 0:105ca010735c, committed 2018-06-09

Comitter:

lenriquez389

Date:

Sat Jun 09 03:59:07 2018 +0000

Commit message:

Homologation Cachan

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Control.h	Sat Jun 09 03:59:07 2018 +0000
@@ -0,0 +1,15 @@
+#ifndef CONTROL_H
+#define CONTROL_H
+#include "mbed.h"
+#include "Moteur.h"
+#include "Pixy.h"
+#include "TPixyInterface.h"
+#include "TPixy.h"
+extern Moteur MotD,MotG;
+extern Serial serial;
+extern SPI spi;
+extern PixySPI pixy;
+extern ServoLoop panLoop;
+extern ServoLoop tiltLoop;
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Globales.cpp	Sat Jun 09 03:59:07 2018 +0000
@@ -0,0 +1,12 @@
+#include "mbed.h"
+#include "Moteur.h"
+#include "Pixy.h"
+#include "TPixyInterface.h"
+#include "TPixy.h"
+Moteur MotD(p25);
+Moteur MotG(p23);
+Serial serial(USBTX, USBRX);
+SPI spi(p5, p6, p7);
+PixySPI pixy(&spi, &serial);
+ServoLoop panLoop(450,250);
+ServoLoop tiltLoop(300,150);
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Moteur.lib	Sat Jun 09 03:59:07 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/lenriquez389/code/Moteur/#b1590d097032

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/TPixy-Interface.lib	Sat Jun 09 03:59:07 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/lenriquez389/code/CACHAN_HOMOG/#ee635fc62b6e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Jun 09 03:59:07 2018 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "Control.h"
+#define Vm 15
+int32_t panError,tiltError;
+uint16_t blocks;
+void Suiveur_Pixy(void);
+void Suiveur_Moteurs(void);
+Timer temps_moteur,fin_jeux;
+int main()
+{
+    temps_moteur.start();
+    temps_moteur.reset();
+    fin_jeux.start();
+    fin_jeux.reset();
+    while(1) {
+        blocks=pixy.getBlocks();
+        if(blocks) {
+            Suiveur_Pixy();
+            Suiveur_Moteurs();
+        }
+        if(temps_moteur.read()>20) {
+        MotD.setVit(0);
+        MotD.setVit(0);
+        break;
+        }
+    }
+}
+
+void Suiveur_Pixy(void)
+{
+
+    //panError = X_CENTER - pixy.blocks[0].x;
+    tiltError = pixy.blocks[0].y - Y_CENTER;
+    //panLoop.update(panError);
+    tiltLoop.update(tiltError);
+    pixy.setServos(500L,tiltLoop.m_pos);
+}
+
+int16_t eant=0,e;
+float kp_=0.0007,kd_=0;
+//float kp_=2,kd_=0;
+void Suiveur_Moteurs(void)
+{
+    float dt=temps_moteur.read();
+    temps_moteur.reset();
+
+    uint16_t posy=tiltLoop.m_pos;
+    int vit=((Vm-4)*(PIXY_RCS_MAX_POS-posy))/(350L)+4;
+
+    uint16_t posx=pixy.blocks[0].x;
+    e=posx-PIXY_CENTER_X;
+
+    float PID=kp_*(e)+kd_*(e-eant)/dt;
+    float Vd=vit-PID;
+    if(Vd<0)Vd=0;
+    if(Vd>50)Vd=50;
+    float Vi=Vm+PID;
+    if(Vi<0)Vi=0;
+    if(Vi>50)Vi=50;
+    // printf("VitD: %d\t VitG: %d\n\r",(int)Vd,(int)Vi);
+    MotD.setVit((int)(Vd));
+    MotG.setVit((int)(Vi));
+
+    eant=e;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Jun 09 03:59:07 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/5aab5a7997ee
\ No newline at end of file