Hlimi Omar
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stateMachines.cpp@15:129f205ff030, 2018-09-11 (annotated)
- Committer:
- GaspardD
- Date:
- Tue Sep 11 12:28:37 2018 +0000
- Revision:
- 15:129f205ff030
- Parent:
- 14:d471faa7d1a2
- Child:
- 16:63690703b5b6
section 1 unique parcours 5m
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
GaspardD | 12:51b1b40cc017 | 1 | #include "stateMachines.h" |
GaspardD | 13:af9a59ccf60b | 2 | #ifdef DEBUG |
GaspardD | 13:af9a59ccf60b | 3 | Serial pc(USBTX, USBRX); // tx, rx |
GaspardD | 13:af9a59ccf60b | 4 | #endif |
GaspardD | 11:bc24b3ba51a9 | 5 | uint16_t distMurG90[NB_ECHANTILLONS_IR];//buffer tournant ir coté gauche pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 6 | uint16_t distMurD90[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 7 | uint16_t distMurG45[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 45deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 8 | uint16_t distMurD45[NB_ECHANTILLONS_IR];//buffer tournant ir avant droit 45deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 9 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 10 | uint16_t distMurG10[NB_ECHANTILLONS_IR];//buffer tournant ir avant gauche 10deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 11 | uint16_t distMurD10[NB_ECHANTILLONS_IR];//buffer tournant ir coté droit 10deg pour moyenne |
GaspardD | 11:bc24b3ba51a9 | 12 | uint16_t distMurFront[NB_ECHANTILLONS_IR];//buffer tournant ir front |
GaspardD | 11:bc24b3ba51a9 | 13 | #endif |
GaspardD | 12:51b1b40cc017 | 14 | uint16_t distMurG90Moy; |
GaspardD | 12:51b1b40cc017 | 15 | uint16_t distMurD90Moy; |
GaspardD | 12:51b1b40cc017 | 16 | uint16_t distMurG45Moy; |
GaspardD | 12:51b1b40cc017 | 17 | uint16_t distMurD45Moy; |
GaspardD | 12:51b1b40cc017 | 18 | #ifdef DLVV |
GaspardD | 12:51b1b40cc017 | 19 | uint16_t distMurG10Moy; |
GaspardD | 12:51b1b40cc017 | 20 | uint16_t distMurD10Moy; |
GaspardD | 12:51b1b40cc017 | 21 | uint16_t distMurFrontMoy |
GaspardD | 12:51b1b40cc017 | 22 | #endif |
GaspardD | 8:1d8c3ca5e508 | 23 | int dist_obstacle_lidar[NB_ECHANTILLONS_LIDAR];//buffer tournant |
GaspardD | 8:1d8c3ca5e508 | 24 | int index_fifo_ir = 0;//pour géreer le buffer tournant |
GaspardD | 8:1d8c3ca5e508 | 25 | int index_fifo_lidar = 0; |
GaspardD | 11:bc24b3ba51a9 | 26 | //sections |
GaspardD | 11:bc24b3ba51a9 | 27 | s_Section p_section1; |
GaspardD | 2:fd0ffe46a87d | 28 | |
GaspardD | 15:129f205ff030 | 29 | //PWM Controls |
GaspardD | 12:51b1b40cc017 | 30 | PwmOut PwmMotor(PB_6); // PWM4 ch1 TIM4 |
GaspardD | 12:51b1b40cc017 | 31 | PwmOut PwmDirection(PB_5); // PWM3 ch2 TIM3 |
GaspardD | 8:1d8c3ca5e508 | 32 | |
GaspardD | 15:129f205ff030 | 33 | double pulseDirection = 0.0015; |
GaspardD | 15:129f205ff030 | 34 | double pulseSpeed = 0.015; |
GaspardD | 12:51b1b40cc017 | 35 | |
GaspardD | 12:51b1b40cc017 | 36 | |
GaspardD | 12:51b1b40cc017 | 37 | //Capteurs direction |
GaspardD | 8:1d8c3ca5e508 | 38 | |
GaspardD | 12:51b1b40cc017 | 39 | AnalogIn anaG90(PC_1);//capteur ir coté gauche |
GaspardD | 12:51b1b40cc017 | 40 | AnalogIn anaD90(PA_1);//capteur ir coté droit |
GaspardD | 12:51b1b40cc017 | 41 | AnalogIn anaG45(PC_0);//capteur ir avant gauche 45 deg |
GaspardD | 12:51b1b40cc017 | 42 | AnalogIn anaD45(PC_2);//capteur ir avant droit 45deg |
GaspardD | 11:bc24b3ba51a9 | 43 | #ifdef DLVV |
GaspardD | 12:51b1b40cc017 | 44 | AnalogIn anaDlvvG(PB_0);//capteur ir avant droit 10 deg |
GaspardD | 12:51b1b40cc017 | 45 | AnalogIn anaDlvvD(PC_3);//capteur ir coté droit 10 deg |
GaspardD | 12:51b1b40cc017 | 46 | AnalogIn anaDlvvFront(PA_4);//capteur ir avant |
GaspardD | 11:bc24b3ba51a9 | 47 | #endif |
GaspardD | 12:51b1b40cc017 | 48 | |
GaspardD | 14:d471faa7d1a2 | 49 | int differenceGD45,differenceGD90; |
GaspardD | 12:51b1b40cc017 | 50 | |
GaspardD | 12:51b1b40cc017 | 51 | //Capteur vitesse |
GaspardD | 12:51b1b40cc017 | 52 | InterruptIn it_tachymeter(PA_11); |
GaspardD | 2:fd0ffe46a87d | 53 | |
GaspardD | 11:bc24b3ba51a9 | 54 | |
GaspardD | 11:bc24b3ba51a9 | 55 | //LIDAR |
GaspardD | 12:51b1b40cc017 | 56 | Serial serialLidar(PC_10,PC_11); // tx, rx |
GaspardD | 11:bc24b3ba51a9 | 57 | |
GaspardD | 11:bc24b3ba51a9 | 58 | int distLidar;// LiDAR actually measured distance value |
GaspardD | 11:bc24b3ba51a9 | 59 | int strengthLidar;// LiDAR signal strength |
GaspardD | 11:bc24b3ba51a9 | 60 | int check;// check numerical value storage |
GaspardD | 12:51b1b40cc017 | 61 | int i; |
GaspardD | 11:bc24b3ba51a9 | 62 | int uart[9];// store data measured by LiDAR |
GaspardD | 11:bc24b3ba51a9 | 63 | const int HEADER=0x59;// data package frame header |
GaspardD | 11:bc24b3ba51a9 | 64 | |
GaspardD | 11:bc24b3ba51a9 | 65 | //SPEED |
GaspardD | 11:bc24b3ba51a9 | 66 | int maxSpeed_cmps = 0; |
GaspardD | 11:bc24b3ba51a9 | 67 | int tachySpeed_cmps = 0; |
GaspardD | 11:bc24b3ba51a9 | 68 | int tachyStepsRegister = 0; |
GaspardD | 11:bc24b3ba51a9 | 69 | int tachySectionDist_cm = 0; |
GaspardD | 8:1d8c3ca5e508 | 70 | |
GaspardD | 8:1d8c3ca5e508 | 71 | //Etats |
GaspardD | 8:1d8c3ca5e508 | 72 | MUR_ST st_murs; |
GaspardD | 11:bc24b3ba51a9 | 73 | SECTION_ST st_currentSection; |
GaspardD | 11:bc24b3ba51a9 | 74 | MAX_SPEED_ST st_maxSpeed; |
GaspardD | 8:1d8c3ca5e508 | 75 | THROTTLE_ST st_thro; |
GaspardD | 11:bc24b3ba51a9 | 76 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 77 | OBSTACLE_ST st_obstacle; |
GaspardD | 11:bc24b3ba51a9 | 78 | #endif |
GaspardD | 11:bc24b3ba51a9 | 79 | |
GaspardD | 11:bc24b3ba51a9 | 80 | s_Section* p_sectionCourante = NULL; |
GaspardD | 8:1d8c3ca5e508 | 81 | |
GaspardD | 8:1d8c3ca5e508 | 82 | //time monitoring |
GaspardD | 8:1d8c3ca5e508 | 83 | |
GaspardD | 11:bc24b3ba51a9 | 84 | Timer timeSinceStart;// temps.start()/stop()/sec: read()/ms: read_ms()/µs: read_us() |
GaspardD | 11:bc24b3ba51a9 | 85 | Timer timerSinceGetTachy; |
GaspardD | 11:bc24b3ba51a9 | 86 | |
GaspardD | 11:bc24b3ba51a9 | 87 | void getTachySpeed() |
GaspardD | 11:bc24b3ba51a9 | 88 | { |
GaspardD | 11:bc24b3ba51a9 | 89 | //tachySteps = VALEUR_DU_PIN; |
GaspardD | 12:51b1b40cc017 | 90 | //poour gérer les vitesses lentes |
GaspardD | 12:51b1b40cc017 | 91 | if(tachyStepsRegister == 0 && timerSinceGetTachy.read_us() < 500000) |
GaspardD | 12:51b1b40cc017 | 92 | { |
GaspardD | 12:51b1b40cc017 | 93 | return;//on attend encore un peu l'aquisition de la vitesse |
GaspardD | 12:51b1b40cc017 | 94 | } |
GaspardD | 15:129f205ff030 | 95 | tachySectionDist_cm += tachyStepsRegister; |
GaspardD | 15:129f205ff030 | 96 | tachySpeed_cmps = (tachyStepsRegister * 1000000)/timerSinceGetTachy.read_us(); |
GaspardD | 15:129f205ff030 | 97 | #if DEBUG > 2 |
GaspardD | 15:129f205ff030 | 98 | pc.printf("IT: distance parcourue %d , vitesse:%d \r\n",tachySectionDist_cm,tachySpeed_cmps); |
GaspardD | 15:129f205ff030 | 99 | #endif |
GaspardD | 11:bc24b3ba51a9 | 100 | tachyStepsRegister=0; |
GaspardD | 11:bc24b3ba51a9 | 101 | timerSinceGetTachy.reset(); |
GaspardD | 11:bc24b3ba51a9 | 102 | timerSinceGetTachy.start(); |
GaspardD | 11:bc24b3ba51a9 | 103 | return; |
GaspardD | 11:bc24b3ba51a9 | 104 | } |
GaspardD | 8:1d8c3ca5e508 | 105 | |
GaspardD | 12:51b1b40cc017 | 106 | uint16_t getDistMoy(uint16_t* tab,int size) |
GaspardD | 11:bc24b3ba51a9 | 107 | { |
GaspardD | 11:bc24b3ba51a9 | 108 | int sumMoy = 0; |
GaspardD | 11:bc24b3ba51a9 | 109 | for(int k=0; k<size;k++) |
GaspardD | 11:bc24b3ba51a9 | 110 | { |
GaspardD | 11:bc24b3ba51a9 | 111 | sumMoy+=tab[k]; |
GaspardD | 11:bc24b3ba51a9 | 112 | } |
GaspardD | 11:bc24b3ba51a9 | 113 | return sumMoy/size; |
GaspardD | 11:bc24b3ba51a9 | 114 | } |
GaspardD | 2:fd0ffe46a87d | 115 | |
GaspardD | 12:51b1b40cc017 | 116 | void it4cm() |
GaspardD | 12:51b1b40cc017 | 117 | { |
GaspardD | 12:51b1b40cc017 | 118 | tachyStepsRegister+=4; |
GaspardD | 14:d471faa7d1a2 | 119 | #ifdef DEBUG |
GaspardD | 14:d471faa7d1a2 | 120 | pc.printf("IT tachy\r\n"); |
GaspardD | 14:d471faa7d1a2 | 121 | #endif |
GaspardD | 12:51b1b40cc017 | 122 | } |
GaspardD | 12:51b1b40cc017 | 123 | |
GaspardD | 12:51b1b40cc017 | 124 | void it_serial() |
GaspardD | 12:51b1b40cc017 | 125 | { |
GaspardD | 12:51b1b40cc017 | 126 | if(serialLidar.getc()==HEADER) { // determine data package frame header 0x59 |
GaspardD | 12:51b1b40cc017 | 127 | uart[0]=HEADER; |
GaspardD | 12:51b1b40cc017 | 128 | if(serialLidar.getc()==HEADER) { //determine data package frame header 0x59 |
GaspardD | 12:51b1b40cc017 | 129 | uart[1]=HEADER; |
GaspardD | 12:51b1b40cc017 | 130 | for(i=2; i<9; i++) { // store data to array |
GaspardD | 12:51b1b40cc017 | 131 | uart[i]=serialLidar.getc(); |
GaspardD | 12:51b1b40cc017 | 132 | } |
GaspardD | 12:51b1b40cc017 | 133 | check=uart[0]+uart[1]+uart[2]+uart[3]+uart[4]+uart[5]+uart[6]+uart[7]; |
GaspardD | 12:51b1b40cc017 | 134 | if(uart[8]==(check&0xff)) { // check the received data as per protocols |
GaspardD | 12:51b1b40cc017 | 135 | distLidar=uart[2]+uart[3]*256;// calculate distance value |
GaspardD | 12:51b1b40cc017 | 136 | strengthLidar=uart[4]+uart[5]*256;// calculate signal strength value |
GaspardD | 12:51b1b40cc017 | 137 | } |
GaspardD | 12:51b1b40cc017 | 138 | } |
GaspardD | 12:51b1b40cc017 | 139 | } |
GaspardD | 12:51b1b40cc017 | 140 | } |
GaspardD | 8:1d8c3ca5e508 | 141 | //########## INIT STATES MACHINES ########## |
GaspardD | 11:bc24b3ba51a9 | 142 | void mursInit(void) |
GaspardD | 8:1d8c3ca5e508 | 143 | { |
GaspardD | 13:af9a59ccf60b | 144 | #ifdef DEBUG |
GaspardD | 13:af9a59ccf60b | 145 | pc.baud(115200); |
GaspardD | 13:af9a59ccf60b | 146 | pc.printf("Init Murs\r\n"); |
GaspardD | 13:af9a59ccf60b | 147 | #endif |
GaspardD | 13:af9a59ccf60b | 148 | timeSinceStart.start(); |
GaspardD | 11:bc24b3ba51a9 | 149 | st_murs=EQUILIBRAGE_REPULSIF; |
GaspardD | 12:51b1b40cc017 | 150 | PwmDirection.period(0.010); //20 ms is default |
GaspardD | 12:51b1b40cc017 | 151 | PwmDirection.pulsewidth(0.0015); |
GaspardD | 8:1d8c3ca5e508 | 152 | return; |
GaspardD | 8:1d8c3ca5e508 | 153 | } |
GaspardD | 11:bc24b3ba51a9 | 154 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 155 | void obstacleInit(void) |
GaspardD | 8:1d8c3ca5e508 | 156 | { |
GaspardD | 13:af9a59ccf60b | 157 | #ifdef DEBUG |
GaspardD | 13:af9a59ccf60b | 158 | pc.printf("Init Obstacle\r\n"); |
GaspardD | 13:af9a59ccf60b | 159 | #endif |
GaspardD | 11:bc24b3ba51a9 | 160 | st_speedLimit=FRONT_CLEAR; |
GaspardD | 8:1d8c3ca5e508 | 161 | return; |
GaspardD | 8:1d8c3ca5e508 | 162 | } |
GaspardD | 11:bc24b3ba51a9 | 163 | #endif |
GaspardD | 11:bc24b3ba51a9 | 164 | void sectionInit(void) |
GaspardD | 2:fd0ffe46a87d | 165 | { |
GaspardD | 13:af9a59ccf60b | 166 | #ifdef DEBUG |
GaspardD | 13:af9a59ccf60b | 167 | pc.printf("Init Section\r\n"); |
GaspardD | 13:af9a59ccf60b | 168 | #endif |
GaspardD | 11:bc24b3ba51a9 | 169 | st_currentSection=ARRET; |
GaspardD | 14:d471faa7d1a2 | 170 | p_sectionCourante=&p_section1; |
GaspardD | 12:51b1b40cc017 | 171 | it_tachymeter.fall(&it4cm); |
GaspardD | 11:bc24b3ba51a9 | 172 | timerSinceGetTachy.start(); |
GaspardD | 11:bc24b3ba51a9 | 173 | getTachySpeed();//to reset |
GaspardD | 11:bc24b3ba51a9 | 174 | tachySectionDist_cm = 0; |
GaspardD | 11:bc24b3ba51a9 | 175 | tachyStepsRegister = 0; |
GaspardD | 11:bc24b3ba51a9 | 176 | |
GaspardD | 11:bc24b3ba51a9 | 177 | //section de test |
GaspardD | 11:bc24b3ba51a9 | 178 | p_section1.nextSection = NULL; |
GaspardD | 11:bc24b3ba51a9 | 179 | p_section1.targetSpeed_cmps = 50; |
GaspardD | 12:51b1b40cc017 | 180 | p_section1.slowSpeed_cmps = 15; |
GaspardD | 12:51b1b40cc017 | 181 | p_section1.brakingCoefficient = 20; // application de la formule |
GaspardD | 15:129f205ff030 | 182 | p_section1.ms_accel = 0.000004; |
GaspardD | 15:129f205ff030 | 183 | p_section1.ms_decel = 0.0000001; |
GaspardD | 11:bc24b3ba51a9 | 184 | p_section1.lidarWarningDist_cm = 200; |
GaspardD | 15:129f205ff030 | 185 | p_section1.lng_section_cm = 500;//500cm |
GaspardD | 14:d471faa7d1a2 | 186 | //p_section1.coef_p = 93400000.0; |
GaspardD | 15:129f205ff030 | 187 | p_section1.coef_p = 35000000.0; |
GaspardD | 12:51b1b40cc017 | 188 | p_section1.coef_i = 0.0; |
GaspardD | 12:51b1b40cc017 | 189 | p_section1.coef_d = 0.0; |
GaspardD | 8:1d8c3ca5e508 | 190 | return; |
GaspardD | 8:1d8c3ca5e508 | 191 | } |
GaspardD | 11:bc24b3ba51a9 | 192 | |
GaspardD | 11:bc24b3ba51a9 | 193 | void maxSpeedInit(void) |
GaspardD | 11:bc24b3ba51a9 | 194 | { |
GaspardD | 13:af9a59ccf60b | 195 | #ifdef DEBUG |
GaspardD | 13:af9a59ccf60b | 196 | pc.printf("Init Max Speed\r\n"); |
GaspardD | 13:af9a59ccf60b | 197 | #endif |
GaspardD | 11:bc24b3ba51a9 | 198 | st_maxSpeed=SPEED_MAX; |
GaspardD | 11:bc24b3ba51a9 | 199 | maxSpeed_cmps= p_sectionCourante->targetSpeed_cmps; |
GaspardD | 11:bc24b3ba51a9 | 200 | serialLidar.baud(115200); |
GaspardD | 14:d471faa7d1a2 | 201 | serialLidar.attach(&it_serial); |
GaspardD | 11:bc24b3ba51a9 | 202 | return; |
GaspardD | 11:bc24b3ba51a9 | 203 | } |
GaspardD | 11:bc24b3ba51a9 | 204 | |
GaspardD | 11:bc24b3ba51a9 | 205 | void throttleInit(void) |
GaspardD | 8:1d8c3ca5e508 | 206 | { |
GaspardD | 13:af9a59ccf60b | 207 | #ifdef DEBUG |
GaspardD | 13:af9a59ccf60b | 208 | pc.printf("Init Throttle\r\n"); |
GaspardD | 13:af9a59ccf60b | 209 | #endif |
GaspardD | 8:1d8c3ca5e508 | 210 | st_thro = AT_SPEED; |
GaspardD | 12:51b1b40cc017 | 211 | PwmMotor.period(0.020); //20 ms is default |
GaspardD | 12:51b1b40cc017 | 212 | PwmMotor.pulsewidth(0.0010); |
GaspardD | 12:51b1b40cc017 | 213 | wait(3); |
GaspardD | 12:51b1b40cc017 | 214 | PwmMotor.pulsewidth(0.0020); |
GaspardD | 12:51b1b40cc017 | 215 | wait(1); |
GaspardD | 12:51b1b40cc017 | 216 | PwmMotor.pulsewidth(0.0015); |
GaspardD | 12:51b1b40cc017 | 217 | wait(1); |
GaspardD | 15:129f205ff030 | 218 | pulseSpeed = 0.0015; |
GaspardD | 13:af9a59ccf60b | 219 | #ifdef DEBUG |
GaspardD | 13:af9a59ccf60b | 220 | pc.printf("temps init: %d micros\r\n",timeSinceStart.read_us()); |
GaspardD | 13:af9a59ccf60b | 221 | pc.printf("\r\nStates INIT: state Murs: %d, state Section %d, state MaxSpeed %d, state Throttle %d\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro); |
GaspardD | 13:af9a59ccf60b | 222 | timeSinceStart.reset(); |
GaspardD | 13:af9a59ccf60b | 223 | timeSinceStart.start(); |
GaspardD | 13:af9a59ccf60b | 224 | #endif |
GaspardD | 8:1d8c3ca5e508 | 225 | return; |
GaspardD | 8:1d8c3ca5e508 | 226 | } |
GaspardD | 2:fd0ffe46a87d | 227 | |
GaspardD | 8:1d8c3ca5e508 | 228 | |
GaspardD | 8:1d8c3ca5e508 | 229 | //########## UPDATE STATES ########## |
GaspardD | 11:bc24b3ba51a9 | 230 | void mursUpdate(void) |
GaspardD | 2:fd0ffe46a87d | 231 | { |
GaspardD | 14:d471faa7d1a2 | 232 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 233 | pc.printf("\r\nUpdate MURS\r\n"); |
GaspardD | 14:d471faa7d1a2 | 234 | #endif |
GaspardD | 11:bc24b3ba51a9 | 235 | MUR_ST st_tmpMurs; |
GaspardD | 11:bc24b3ba51a9 | 236 | //lectures |
GaspardD | 11:bc24b3ba51a9 | 237 | distMurG90[index_fifo_ir]=anaG90.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 238 | distMurD90[index_fifo_ir]=anaD90.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 239 | distMurG45[index_fifo_ir]=anaG45.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 240 | distMurD45[index_fifo_ir]=anaD45.read_u16(); |
GaspardD | 11:bc24b3ba51a9 | 241 | index_fifo_ir = (index_fifo_ir+1)%NB_ECHANTILLONS_IR; |
GaspardD | 8:1d8c3ca5e508 | 242 | |
GaspardD | 12:51b1b40cc017 | 243 | distMurG45Moy = getDistMoy(distMurG45,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 244 | distMurD45Moy = getDistMoy(distMurD45,NB_ECHANTILLONS_IR); |
GaspardD | 14:d471faa7d1a2 | 245 | |
GaspardD | 14:d471faa7d1a2 | 246 | #if DEBUG > 1 |
GaspardD | 14:d471faa7d1a2 | 247 | pc.printf("dist45G:%d dist45D:%d Deadzone: %d\r\n",distMurG45Moy,distMurD45Moy,IR_DEADZONE_U16_22cm); |
GaspardD | 14:d471faa7d1a2 | 248 | #endif |
GaspardD | 12:51b1b40cc017 | 249 | |
GaspardD | 11:bc24b3ba51a9 | 250 | switch (st_murs) { |
GaspardD | 11:bc24b3ba51a9 | 251 | case EQUILIBRAGE_REPULSIF: |
GaspardD | 12:51b1b40cc017 | 252 | distMurG90Moy = getDistMoy(distMurG90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 253 | distMurD90Moy = getDistMoy(distMurD90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 254 | if( distMurG90Moy <= IR_DEADZONE_U16_22cm) |
GaspardD | 11:bc24b3ba51a9 | 255 | { |
GaspardD | 11:bc24b3ba51a9 | 256 | st_tmpMurs = ATTRACTIF_D; |
GaspardD | 12:51b1b40cc017 | 257 | }else if(distMurD90Moy <= IR_DEADZONE_U16_22cm) |
GaspardD | 11:bc24b3ba51a9 | 258 | { |
GaspardD | 11:bc24b3ba51a9 | 259 | st_tmpMurs = ATTRACTIF_G; |
GaspardD | 11:bc24b3ba51a9 | 260 | }else |
GaspardD | 11:bc24b3ba51a9 | 261 | { |
GaspardD | 11:bc24b3ba51a9 | 262 | st_tmpMurs = EQUILIBRAGE_REPULSIF; |
GaspardD | 11:bc24b3ba51a9 | 263 | } |
GaspardD | 11:bc24b3ba51a9 | 264 | break; |
GaspardD | 11:bc24b3ba51a9 | 265 | case ATTRACTIF_D: |
GaspardD | 12:51b1b40cc017 | 266 | distMurD90Moy= getDistMoy(distMurD90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 267 | if( distMurD90Moy >= IR_FAR_U16_105cm) |
GaspardD | 11:bc24b3ba51a9 | 268 | { |
GaspardD | 11:bc24b3ba51a9 | 269 | st_tmpMurs = ATTRACTIF_D; |
GaspardD | 11:bc24b3ba51a9 | 270 | }else |
GaspardD | 11:bc24b3ba51a9 | 271 | { |
GaspardD | 11:bc24b3ba51a9 | 272 | st_tmpMurs = EQUILIBRAGE_REPULSIF; |
GaspardD | 11:bc24b3ba51a9 | 273 | } |
GaspardD | 11:bc24b3ba51a9 | 274 | break; |
GaspardD | 11:bc24b3ba51a9 | 275 | case ATTRACTIF_G: |
GaspardD | 12:51b1b40cc017 | 276 | distMurG90Moy= getDistMoy(distMurG90,NB_ECHANTILLONS_IR); |
GaspardD | 12:51b1b40cc017 | 277 | if(distMurG90Moy >= IR_FAR_U16_105cm) |
GaspardD | 11:bc24b3ba51a9 | 278 | { |
GaspardD | 11:bc24b3ba51a9 | 279 | st_tmpMurs = ATTRACTIF_G; |
GaspardD | 11:bc24b3ba51a9 | 280 | }else |
GaspardD | 11:bc24b3ba51a9 | 281 | { |
GaspardD | 11:bc24b3ba51a9 | 282 | st_tmpMurs = EQUILIBRAGE_REPULSIF; |
GaspardD | 11:bc24b3ba51a9 | 283 | } |
GaspardD | 11:bc24b3ba51a9 | 284 | break; |
GaspardD | 11:bc24b3ba51a9 | 285 | default: |
GaspardD | 11:bc24b3ba51a9 | 286 | return; |
GaspardD | 8:1d8c3ca5e508 | 287 | } |
GaspardD | 11:bc24b3ba51a9 | 288 | st_murs = st_tmpMurs; |
GaspardD | 8:1d8c3ca5e508 | 289 | return; |
GaspardD | 8:1d8c3ca5e508 | 290 | } |
GaspardD | 11:bc24b3ba51a9 | 291 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 292 | void obstacleUpdate(void) |
GaspardD | 8:1d8c3ca5e508 | 293 | { |
GaspardD | 8:1d8c3ca5e508 | 294 | return; |
GaspardD | 8:1d8c3ca5e508 | 295 | } |
GaspardD | 11:bc24b3ba51a9 | 296 | #endif |
GaspardD | 11:bc24b3ba51a9 | 297 | |
GaspardD | 11:bc24b3ba51a9 | 298 | void sectionUpdate(void) |
GaspardD | 8:1d8c3ca5e508 | 299 | { |
GaspardD | 14:d471faa7d1a2 | 300 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 301 | pc.printf("\r\nUpdate Section\r\n"); |
GaspardD | 14:d471faa7d1a2 | 302 | #endif |
GaspardD | 11:bc24b3ba51a9 | 303 | SECTION_ST st_tmpSection; |
GaspardD | 11:bc24b3ba51a9 | 304 | switch (st_currentSection) { |
GaspardD | 11:bc24b3ba51a9 | 305 | case RUNNING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 306 | if(tachySectionDist_cm > p_sectionCourante->lng_section_cm)//on pourrait rajouter un test lidar |
GaspardD | 11:bc24b3ba51a9 | 307 | { |
GaspardD | 11:bc24b3ba51a9 | 308 | st_tmpSection = LOADING_SECTION; |
GaspardD | 11:bc24b3ba51a9 | 309 | } |
GaspardD | 14:d471faa7d1a2 | 310 | else |
GaspardD | 14:d471faa7d1a2 | 311 | { |
GaspardD | 14:d471faa7d1a2 | 312 | return; |
GaspardD | 14:d471faa7d1a2 | 313 | } |
GaspardD | 11:bc24b3ba51a9 | 314 | break; |
GaspardD | 11:bc24b3ba51a9 | 315 | case LOADING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 316 | if(p_sectionCourante->nextSection != NULL) |
GaspardD | 11:bc24b3ba51a9 | 317 | { |
GaspardD | 11:bc24b3ba51a9 | 318 | st_tmpSection = RUNNING_SECTION; |
GaspardD | 11:bc24b3ba51a9 | 319 | }else |
GaspardD | 11:bc24b3ba51a9 | 320 | { |
GaspardD | 11:bc24b3ba51a9 | 321 | st_tmpSection=ARRET; |
GaspardD | 11:bc24b3ba51a9 | 322 | } |
GaspardD | 11:bc24b3ba51a9 | 323 | break; |
GaspardD | 11:bc24b3ba51a9 | 324 | case ARRET: |
GaspardD | 14:d471faa7d1a2 | 325 | if(p_sectionCourante != NULL) |
GaspardD | 11:bc24b3ba51a9 | 326 | { |
GaspardD | 11:bc24b3ba51a9 | 327 | st_tmpSection = RUNNING_SECTION; |
GaspardD | 11:bc24b3ba51a9 | 328 | } |
GaspardD | 11:bc24b3ba51a9 | 329 | else |
GaspardD | 11:bc24b3ba51a9 | 330 | { |
GaspardD | 11:bc24b3ba51a9 | 331 | return; |
GaspardD | 11:bc24b3ba51a9 | 332 | } |
GaspardD | 11:bc24b3ba51a9 | 333 | break; |
GaspardD | 11:bc24b3ba51a9 | 334 | default: |
GaspardD | 11:bc24b3ba51a9 | 335 | break; |
GaspardD | 11:bc24b3ba51a9 | 336 | } |
GaspardD | 11:bc24b3ba51a9 | 337 | st_currentSection = st_tmpSection; |
GaspardD | 8:1d8c3ca5e508 | 338 | return; |
GaspardD | 8:1d8c3ca5e508 | 339 | } |
GaspardD | 8:1d8c3ca5e508 | 340 | |
GaspardD | 11:bc24b3ba51a9 | 341 | void maxSpeedUpdate(void) |
GaspardD | 8:1d8c3ca5e508 | 342 | { |
GaspardD | 14:d471faa7d1a2 | 343 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 344 | pc.printf("\r\nUpdate MaxSpeed\r\n"); |
GaspardD | 14:d471faa7d1a2 | 345 | #endif |
GaspardD | 11:bc24b3ba51a9 | 346 | MAX_SPEED_ST st_tmpMaxSpeed; |
GaspardD | 11:bc24b3ba51a9 | 347 | i=0; |
GaspardD | 11:bc24b3ba51a9 | 348 | |
GaspardD | 11:bc24b3ba51a9 | 349 | if( strengthLidar > (LIDAR_STRENGTH_THRESOLD + LIDAR_STRENGH_DELTA) ) |
GaspardD | 11:bc24b3ba51a9 | 350 | { |
GaspardD | 11:bc24b3ba51a9 | 351 | if(distLidar > 30 && distLidar < p_sectionCourante->lidarWarningDist_cm) |
GaspardD | 11:bc24b3ba51a9 | 352 | { |
GaspardD | 11:bc24b3ba51a9 | 353 | st_tmpMaxSpeed = SPEED_VARIABLE; |
GaspardD | 11:bc24b3ba51a9 | 354 | }else |
GaspardD | 11:bc24b3ba51a9 | 355 | { |
GaspardD | 11:bc24b3ba51a9 | 356 | st_tmpMaxSpeed = SPEED_LIMITED; |
GaspardD | 11:bc24b3ba51a9 | 357 | } |
GaspardD | 11:bc24b3ba51a9 | 358 | }else if(strengthLidar < (LIDAR_STRENGTH_THRESOLD - LIDAR_STRENGH_DELTA)) |
GaspardD | 11:bc24b3ba51a9 | 359 | { |
GaspardD | 11:bc24b3ba51a9 | 360 | st_tmpMaxSpeed = SPEED_MAX; |
GaspardD | 11:bc24b3ba51a9 | 361 | } |
GaspardD | 11:bc24b3ba51a9 | 362 | else{ |
GaspardD | 11:bc24b3ba51a9 | 363 | return;//pour ne pas changer sans arret d'etats lorsque strengthLidar est à la limite du seuil |
GaspardD | 11:bc24b3ba51a9 | 364 | } |
GaspardD | 11:bc24b3ba51a9 | 365 | |
GaspardD | 11:bc24b3ba51a9 | 366 | |
GaspardD | 11:bc24b3ba51a9 | 367 | st_maxSpeed = st_tmpMaxSpeed; |
GaspardD | 11:bc24b3ba51a9 | 368 | return; |
GaspardD | 11:bc24b3ba51a9 | 369 | } |
GaspardD | 11:bc24b3ba51a9 | 370 | |
GaspardD | 11:bc24b3ba51a9 | 371 | void throttleUpdate(void) |
GaspardD | 11:bc24b3ba51a9 | 372 | { |
GaspardD | 14:d471faa7d1a2 | 373 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 374 | pc.printf("\r\nUpdate Throttle\r\n"); |
GaspardD | 14:d471faa7d1a2 | 375 | #endif |
GaspardD | 11:bc24b3ba51a9 | 376 | THROTTLE_ST st_tmpThro; |
GaspardD | 14:d471faa7d1a2 | 377 | getTachySpeed(); |
GaspardD | 11:bc24b3ba51a9 | 378 | |
GaspardD | 11:bc24b3ba51a9 | 379 | switch (st_thro) { |
GaspardD | 11:bc24b3ba51a9 | 380 | case UNDER_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 381 | if( tachySpeed_cmps > maxSpeed_cmps ) |
GaspardD | 11:bc24b3ba51a9 | 382 | { |
GaspardD | 11:bc24b3ba51a9 | 383 | st_tmpThro = AT_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 384 | }else |
GaspardD | 11:bc24b3ba51a9 | 385 | { |
GaspardD | 11:bc24b3ba51a9 | 386 | return; |
GaspardD | 11:bc24b3ba51a9 | 387 | } |
GaspardD | 11:bc24b3ba51a9 | 388 | break; |
GaspardD | 11:bc24b3ba51a9 | 389 | case OVER_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 390 | if( tachySpeed_cmps < maxSpeed_cmps ) |
GaspardD | 11:bc24b3ba51a9 | 391 | { |
GaspardD | 11:bc24b3ba51a9 | 392 | st_tmpThro = AT_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 393 | }else |
GaspardD | 11:bc24b3ba51a9 | 394 | { |
GaspardD | 11:bc24b3ba51a9 | 395 | return; |
GaspardD | 11:bc24b3ba51a9 | 396 | } |
GaspardD | 11:bc24b3ba51a9 | 397 | break; |
GaspardD | 11:bc24b3ba51a9 | 398 | case AT_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 399 | if(tachySpeed_cmps > (maxSpeed_cmps + SPEED_DELTA_CMPS) ) |
GaspardD | 11:bc24b3ba51a9 | 400 | { |
GaspardD | 11:bc24b3ba51a9 | 401 | st_tmpThro = OVER_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 402 | } else if( tachySpeed_cmps < (maxSpeed_cmps - SPEED_DELTA_CMPS) ) |
GaspardD | 11:bc24b3ba51a9 | 403 | { |
GaspardD | 11:bc24b3ba51a9 | 404 | st_tmpThro = UNDER_SPEED; |
GaspardD | 11:bc24b3ba51a9 | 405 | }else |
GaspardD | 11:bc24b3ba51a9 | 406 | { |
GaspardD | 11:bc24b3ba51a9 | 407 | return; |
GaspardD | 11:bc24b3ba51a9 | 408 | } |
GaspardD | 11:bc24b3ba51a9 | 409 | break; |
GaspardD | 11:bc24b3ba51a9 | 410 | default: |
GaspardD | 11:bc24b3ba51a9 | 411 | break; |
GaspardD | 11:bc24b3ba51a9 | 412 | } |
GaspardD | 11:bc24b3ba51a9 | 413 | |
GaspardD | 11:bc24b3ba51a9 | 414 | st_thro = st_tmpThro; |
GaspardD | 8:1d8c3ca5e508 | 415 | return; |
GaspardD | 8:1d8c3ca5e508 | 416 | } |
GaspardD | 2:fd0ffe46a87d | 417 | |
GaspardD | 8:1d8c3ca5e508 | 418 | //########## OUTPUT STATES ########## |
GaspardD | 11:bc24b3ba51a9 | 419 | //updating output parameters |
GaspardD | 11:bc24b3ba51a9 | 420 | void mursOutput(void) |
GaspardD | 12:51b1b40cc017 | 421 | { |
GaspardD | 14:d471faa7d1a2 | 422 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 423 | pc.printf("\r\n Output MURS\r\n"); |
GaspardD | 14:d471faa7d1a2 | 424 | #endif |
GaspardD | 11:bc24b3ba51a9 | 425 | switch (st_murs) { |
GaspardD | 12:51b1b40cc017 | 426 | case EQUILIBRAGE_REPULSIF://TO DO TODO |
GaspardD | 11:bc24b3ba51a9 | 427 | case ATTRACTIF_G: |
GaspardD | 11:bc24b3ba51a9 | 428 | case ATTRACTIF_D: |
GaspardD | 14:d471faa7d1a2 | 429 | |
GaspardD | 14:d471faa7d1a2 | 430 | differenceGD90 = distMurD90Moy - distMurG90Moy; |
GaspardD | 12:51b1b40cc017 | 431 | differenceGD45 = distMurD45Moy - distMurG45Moy; |
GaspardD | 14:d471faa7d1a2 | 432 | pulseDirection = (double) ((double)((differenceGD45+differenceGD45)/2) / (double)p_sectionCourante->coef_p) + 0.0015; |
GaspardD | 15:129f205ff030 | 433 | if(pulseDirection > 0.002) |
GaspardD | 15:129f205ff030 | 434 | { |
GaspardD | 15:129f205ff030 | 435 | #if DEBUG > 1 |
GaspardD | 15:129f205ff030 | 436 | pc.printf("!!! OVER PWM Direction pulse: %.7f\r\n",pulseDirection); |
GaspardD | 15:129f205ff030 | 437 | #endif |
GaspardD | 15:129f205ff030 | 438 | pulseDirection = 0.002; |
GaspardD | 15:129f205ff030 | 439 | } |
GaspardD | 15:129f205ff030 | 440 | else if(pulseDirection < 0.001) |
GaspardD | 15:129f205ff030 | 441 | { |
GaspardD | 15:129f205ff030 | 442 | #if DEBUG > 1 |
GaspardD | 15:129f205ff030 | 443 | pc.printf("!!! UNDER PWM Direction pulse: %.7f\r\n",pulseDirection); |
GaspardD | 15:129f205ff030 | 444 | #endif |
GaspardD | 15:129f205ff030 | 445 | pulseDirection = 0.001; |
GaspardD | 15:129f205ff030 | 446 | } |
GaspardD | 11:bc24b3ba51a9 | 447 | default: |
GaspardD | 11:bc24b3ba51a9 | 448 | break; |
GaspardD | 11:bc24b3ba51a9 | 449 | } |
GaspardD | 14:d471faa7d1a2 | 450 | #if DEBUG > 1 |
GaspardD | 15:129f205ff030 | 451 | pc.printf("PWM Direction pulse: %.7f\r\n",pulseDirection); |
GaspardD | 14:d471faa7d1a2 | 452 | #endif |
GaspardD | 12:51b1b40cc017 | 453 | PwmDirection.pulsewidth(pulseDirection); |
GaspardD | 8:1d8c3ca5e508 | 454 | return; |
GaspardD | 8:1d8c3ca5e508 | 455 | } |
GaspardD | 8:1d8c3ca5e508 | 456 | |
GaspardD | 11:bc24b3ba51a9 | 457 | #ifdef DLVV |
GaspardD | 11:bc24b3ba51a9 | 458 | void obstacleOutput(void) |
GaspardD | 8:1d8c3ca5e508 | 459 | { |
GaspardD | 8:1d8c3ca5e508 | 460 | return; |
GaspardD | 8:1d8c3ca5e508 | 461 | } |
GaspardD | 11:bc24b3ba51a9 | 462 | #endif |
GaspardD | 11:bc24b3ba51a9 | 463 | void sectionOutput(void) |
GaspardD | 8:1d8c3ca5e508 | 464 | { |
GaspardD | 14:d471faa7d1a2 | 465 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 466 | pc.printf("\r\n Output Section\r\n"); |
GaspardD | 14:d471faa7d1a2 | 467 | #endif |
GaspardD | 11:bc24b3ba51a9 | 468 | switch (st_currentSection) { |
GaspardD | 11:bc24b3ba51a9 | 469 | case RUNNING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 470 | break; |
GaspardD | 11:bc24b3ba51a9 | 471 | case LOADING_SECTION: |
GaspardD | 11:bc24b3ba51a9 | 472 | p_sectionCourante=p_sectionCourante->nextSection; |
GaspardD | 11:bc24b3ba51a9 | 473 | tachySectionDist_cm = 0; |
GaspardD | 11:bc24b3ba51a9 | 474 | break; |
GaspardD | 11:bc24b3ba51a9 | 475 | case ARRET: |
GaspardD | 15:129f205ff030 | 476 | PwmMotor.pulsewidth(0.00135); |
GaspardD | 11:bc24b3ba51a9 | 477 | wait(10);//on est à l'arret |
GaspardD | 11:bc24b3ba51a9 | 478 | break; |
GaspardD | 11:bc24b3ba51a9 | 479 | default: |
GaspardD | 11:bc24b3ba51a9 | 480 | break; |
GaspardD | 11:bc24b3ba51a9 | 481 | } |
GaspardD | 8:1d8c3ca5e508 | 482 | return; |
GaspardD | 8:1d8c3ca5e508 | 483 | } |
GaspardD | 8:1d8c3ca5e508 | 484 | |
GaspardD | 11:bc24b3ba51a9 | 485 | |
GaspardD | 11:bc24b3ba51a9 | 486 | void maxSpeedOutput(void) |
GaspardD | 8:1d8c3ca5e508 | 487 | { |
GaspardD | 14:d471faa7d1a2 | 488 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 489 | pc.printf("\r\n Output MAX SPEED\r\n"); |
GaspardD | 14:d471faa7d1a2 | 490 | #endif |
GaspardD | 11:bc24b3ba51a9 | 491 | switch(st_maxSpeed) |
GaspardD | 11:bc24b3ba51a9 | 492 | { |
GaspardD | 11:bc24b3ba51a9 | 493 | case SPEED_LIMITED: |
GaspardD | 11:bc24b3ba51a9 | 494 | maxSpeed_cmps = p_sectionCourante->slowSpeed_cmps; |
GaspardD | 11:bc24b3ba51a9 | 495 | break; |
GaspardD | 11:bc24b3ba51a9 | 496 | case SPEED_VARIABLE: |
GaspardD | 11:bc24b3ba51a9 | 497 | maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps * (distLidar/(distLidar+p_sectionCourante->brakingCoefficient)); |
GaspardD | 11:bc24b3ba51a9 | 498 | break; |
GaspardD | 11:bc24b3ba51a9 | 499 | default: |
GaspardD | 11:bc24b3ba51a9 | 500 | maxSpeed_cmps = p_sectionCourante->targetSpeed_cmps; |
GaspardD | 11:bc24b3ba51a9 | 501 | break; |
GaspardD | 11:bc24b3ba51a9 | 502 | } |
GaspardD | 8:1d8c3ca5e508 | 503 | return; |
GaspardD | 8:1d8c3ca5e508 | 504 | } |
GaspardD | 11:bc24b3ba51a9 | 505 | |
GaspardD | 11:bc24b3ba51a9 | 506 | void throttleOutput(void) |
GaspardD | 11:bc24b3ba51a9 | 507 | { |
GaspardD | 14:d471faa7d1a2 | 508 | #if (DEBUG > 3) |
GaspardD | 14:d471faa7d1a2 | 509 | pc.printf("\r\n Output TROTTLE\r\n"); |
GaspardD | 14:d471faa7d1a2 | 510 | #endif |
GaspardD | 11:bc24b3ba51a9 | 511 | switch (st_thro) { |
GaspardD | 11:bc24b3ba51a9 | 512 | case UNDER_SPEED: |
GaspardD | 15:129f205ff030 | 513 | if ( (pulseSpeed + p_sectionCourante->ms_decel) < 0.002) |
GaspardD | 15:129f205ff030 | 514 | { |
GaspardD | 15:129f205ff030 | 515 | pulseSpeed += p_sectionCourante->ms_accel; |
GaspardD | 15:129f205ff030 | 516 | } |
GaspardD | 11:bc24b3ba51a9 | 517 | break; |
GaspardD | 11:bc24b3ba51a9 | 518 | case OVER_SPEED: |
GaspardD | 15:129f205ff030 | 519 | if ( (pulseSpeed - p_sectionCourante->ms_decel) > 0.0015) |
GaspardD | 15:129f205ff030 | 520 | { |
GaspardD | 15:129f205ff030 | 521 | pulseSpeed -= p_sectionCourante->ms_decel; |
GaspardD | 15:129f205ff030 | 522 | } |
GaspardD | 11:bc24b3ba51a9 | 523 | break; |
GaspardD | 11:bc24b3ba51a9 | 524 | case AT_SPEED: |
GaspardD | 11:bc24b3ba51a9 | 525 | default: |
GaspardD | 11:bc24b3ba51a9 | 526 | break; |
GaspardD | 11:bc24b3ba51a9 | 527 | } |
GaspardD | 15:129f205ff030 | 528 | PwmMotor.pulsewidth(pulseSpeed); |
GaspardD | 15:129f205ff030 | 529 | #if DEBUG > 1 |
GaspardD | 15:129f205ff030 | 530 | pc.printf("PWM Thro pulse: %.7f\r\n",pulseSpeed); |
GaspardD | 15:129f205ff030 | 531 | #endif |
GaspardD | 14:d471faa7d1a2 | 532 | #if DEBUG > 0 |
GaspardD | 13:af9a59ccf60b | 533 | pc.printf("\r\nodo:%d dist = %d \tstrength = %d \tC45D: %d C45G: %d C90D: %d C90G: %d looptime: %d micros",tachySectionDist_cm,distLidar,strengthLidar,distMurD45Moy,distMurG45Moy,distMurD90Moy,distMurG90Moy,timeSinceStart.read_us());// output signal strength value |
GaspardD | 13:af9a59ccf60b | 534 | pc.printf("\r\nstate Murs: %d, state Section %d, state MaxSpeed %d, state Throttle %d\r\n",st_murs,st_currentSection,st_maxSpeed,st_thro); |
GaspardD | 15:129f205ff030 | 535 | //wait(2); |
GaspardD | 13:af9a59ccf60b | 536 | timeSinceStart.reset(); |
GaspardD | 13:af9a59ccf60b | 537 | timeSinceStart.start(); |
GaspardD | 13:af9a59ccf60b | 538 | #endif |
GaspardD | 11:bc24b3ba51a9 | 539 | return; |
GaspardD | 11:bc24b3ba51a9 | 540 | } |