Hlimi Omar
/
biniou
TRR2018 omar
Fork of biniou by
main.cpp@1:abed67ad1d03, 2018-08-22 (annotated)
- Committer:
- ohlimi2
- Date:
- Wed Aug 22 16:15:52 2018 +0000
- Revision:
- 1:abed67ad1d03
- Parent:
- 0:3d0394820179
- Child:
- 8:1d8c3ca5e508
Copie du debut de code avec une partie de la def
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
ohlimi2 | 0:3d0394820179 | 1 | #include "mbed.h" |
ohlimi2 | 1:abed67ad1d03 | 2 | AnalogIn front_G(PC_0); |
ohlimi2 | 1:abed67ad1d03 | 3 | AnalogIn front_C(PC_1); |
ohlimi2 | 1:abed67ad1d03 | 4 | AnalogIn front_D(PC_2); |
ohlimi2 | 1:abed67ad1d03 | 5 | |
ohlimi2 | 1:abed67ad1d03 | 6 | AnalogIn analog_left(A0); |
ohlimi2 | 1:abed67ad1d03 | 7 | AnalogIn analog_right(A1); |
ohlimi2 | 1:abed67ad1d03 | 8 | AnalogIn analog_front(A2); |
ohlimi2 | 1:abed67ad1d03 | 9 | |
ohlimi2 | 1:abed67ad1d03 | 10 | //DigitalOut enable_right(D0); |
ohlimi2 | 1:abed67ad1d03 | 11 | //DigitalOut forward_right(PA_10,0); |
ohlimi2 | 1:abed67ad1d03 | 12 | //DigitalOut backward_right(PA_9,0); |
ohlimi2 | 1:abed67ad1d03 | 13 | |
ohlimi2 | 1:abed67ad1d03 | 14 | //DigitalOut backward_left(PA_10,0); |
ohlimi2 | 1:abed67ad1d03 | 15 | //DigitalOut forward_left(PB_3,0); |
ohlimi2 | 1:abed67ad1d03 | 16 | //DigitalOut enable_left(D5); |
ohlimi2 | 1:abed67ad1d03 | 17 | |
ohlimi2 | 1:abed67ad1d03 | 18 | PwmOut pwm_right(PB_4); |
ohlimi2 | 1:abed67ad1d03 | 19 | PwmOut pwm_left(PB_5); |
ohlimi2 | 1:abed67ad1d03 | 20 | |
ohlimi2 | 1:abed67ad1d03 | 21 | int on_off = 0 ; |
ohlimi2 | 1:abed67ad1d03 | 22 | InterruptIn button(USER_BUTTON); |
ohlimi2 | 1:abed67ad1d03 | 23 | |
ohlimi2 | 0:3d0394820179 | 24 | DigitalOut led(LED1); |
ohlimi2 | 0:3d0394820179 | 25 | |
ohlimi2 | 1:abed67ad1d03 | 26 | void pressed() |
ohlimi2 | 1:abed67ad1d03 | 27 | { |
ohlimi2 | 1:abed67ad1d03 | 28 | if (on_off == 0) { |
ohlimi2 | 1:abed67ad1d03 | 29 | on_off = 1 ; |
ohlimi2 | 1:abed67ad1d03 | 30 | } else { |
ohlimi2 | 1:abed67ad1d03 | 31 | on_off = 0; |
ohlimi2 | 0:3d0394820179 | 32 | } |
ohlimi2 | 0:3d0394820179 | 33 | } |
ohlimi2 | 1:abed67ad1d03 | 34 | |
ohlimi2 | 1:abed67ad1d03 | 35 | int main() |
ohlimi2 | 1:abed67ad1d03 | 36 | { |
ohlimi2 | 1:abed67ad1d03 | 37 | float front_meas; |
ohlimi2 | 1:abed67ad1d03 | 38 | float left_meas; |
ohlimi2 | 1:abed67ad1d03 | 39 | float right_meas; |
ohlimi2 | 1:abed67ad1d03 | 40 | |
ohlimi2 | 1:abed67ad1d03 | 41 | button.fall(&pressed); |
ohlimi2 | 1:abed67ad1d03 | 42 | |
ohlimi2 | 1:abed67ad1d03 | 43 | pwm_right.period_us(500); |
ohlimi2 | 1:abed67ad1d03 | 44 | pwm_left.period_us(500); |
ohlimi2 | 1:abed67ad1d03 | 45 | pwm_right.pulsewidth_us(0); |
ohlimi2 | 1:abed67ad1d03 | 46 | pwm_left.pulsewidth_us(0); |
ohlimi2 | 1:abed67ad1d03 | 47 | |
ohlimi2 | 1:abed67ad1d03 | 48 | // backward_right.write(0);//ok |
ohlimi2 | 1:abed67ad1d03 | 49 | // forward_right.write(1);//ko |
ohlimi2 | 1:abed67ad1d03 | 50 | |
ohlimi2 | 1:abed67ad1d03 | 51 | // forward_left.write(1); //ok |
ohlimi2 | 1:abed67ad1d03 | 52 | // backward_left.write(0); //ok |
ohlimi2 | 1:abed67ad1d03 | 53 | |
ohlimi2 | 1:abed67ad1d03 | 54 | while(1) { |
ohlimi2 | 1:abed67ad1d03 | 55 | /* |
ohlimi2 | 1:abed67ad1d03 | 56 | if (on_off == 1 ) { |
ohlimi2 | 1:abed67ad1d03 | 57 | led = 1; |
ohlimi2 | 1:abed67ad1d03 | 58 | |
ohlimi2 | 1:abed67ad1d03 | 59 | front_meas = analog_front.read(); |
ohlimi2 | 1:abed67ad1d03 | 60 | left_meas = analog_left.read(); |
ohlimi2 | 1:abed67ad1d03 | 61 | right_meas = analog_right.read(); |
ohlimi2 | 1:abed67ad1d03 | 62 | |
ohlimi2 | 1:abed67ad1d03 | 63 | if (front_meas > 0.5) { |
ohlimi2 | 1:abed67ad1d03 | 64 | if (left_meas > right_meas) { |
ohlimi2 | 1:abed67ad1d03 | 65 | backward_right.write(0);//ok |
ohlimi2 | 1:abed67ad1d03 | 66 | forward_right.write(1);//ko |
ohlimi2 | 1:abed67ad1d03 | 67 | forward_left.write(0); //ok |
ohlimi2 | 1:abed67ad1d03 | 68 | backward_left.write(1); //ok |
ohlimi2 | 1:abed67ad1d03 | 69 | } else { |
ohlimi2 | 1:abed67ad1d03 | 70 | backward_right.write(1);//ok |
ohlimi2 | 1:abed67ad1d03 | 71 | forward_right.write(0);//ko |
ohlimi2 | 1:abed67ad1d03 | 72 | forward_left.write(1); //ok |
ohlimi2 | 1:abed67ad1d03 | 73 | backward_left.write(0); //ok |
ohlimi2 | 1:abed67ad1d03 | 74 | } |
ohlimi2 | 1:abed67ad1d03 | 75 | } else { |
ohlimi2 | 1:abed67ad1d03 | 76 | if(left_meas < 0.5) { |
ohlimi2 | 1:abed67ad1d03 | 77 | forward_left.write(1); //ok |
ohlimi2 | 1:abed67ad1d03 | 78 | backward_left.write(0); //ok |
ohlimi2 | 1:abed67ad1d03 | 79 | } else { |
ohlimi2 | 1:abed67ad1d03 | 80 | forward_left.write(0); //ok |
ohlimi2 | 1:abed67ad1d03 | 81 | backward_left.write(1); //ok |
ohlimi2 | 1:abed67ad1d03 | 82 | } |
ohlimi2 | 1:abed67ad1d03 | 83 | if(right_meas > 0.5) { |
ohlimi2 | 1:abed67ad1d03 | 84 | forward_right.write(0); //ok |
ohlimi2 | 1:abed67ad1d03 | 85 | backward_right.write(1); //ok |
ohlimi2 | 1:abed67ad1d03 | 86 | } else { |
ohlimi2 | 1:abed67ad1d03 | 87 | forward_right.write(1); //ok |
ohlimi2 | 1:abed67ad1d03 | 88 | backward_right.write(0); //ok |
ohlimi2 | 1:abed67ad1d03 | 89 | } |
ohlimi2 | 1:abed67ad1d03 | 90 | } |
ohlimi2 | 1:abed67ad1d03 | 91 | pwm_right.pulsewidth_us(200); |
ohlimi2 | 1:abed67ad1d03 | 92 | pwm_left.pulsewidth_us(200); |
ohlimi2 | 1:abed67ad1d03 | 93 | |
ohlimi2 | 1:abed67ad1d03 | 94 | |
ohlimi2 | 1:abed67ad1d03 | 95 | } else { |
ohlimi2 | 1:abed67ad1d03 | 96 | led = 0; |
ohlimi2 | 1:abed67ad1d03 | 97 | pwm_right.pulsewidth_us(0); |
ohlimi2 | 1:abed67ad1d03 | 98 | pwm_left.pulsewidth_us(0); |
ohlimi2 | 1:abed67ad1d03 | 99 | }*/ |
ohlimi2 | 1:abed67ad1d03 | 100 | wait(0.2); // 200 ms |
ohlimi2 | 1:abed67ad1d03 | 101 | |
ohlimi2 | 1:abed67ad1d03 | 102 | } |
ohlimi2 | 1:abed67ad1d03 | 103 | } |
ohlimi2 | 1:abed67ad1d03 | 104 | |
ohlimi2 | 1:abed67ad1d03 | 105 | |
ohlimi2 | 1:abed67ad1d03 | 106 | |
ohlimi2 | 1:abed67ad1d03 | 107 | |
ohlimi2 | 1:abed67ad1d03 | 108 |