Alexandre Pirotte
/
0000Non_stop_code_v1
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Dependencies: CMPS03 SRF05 mbed pixy
Diff: fct.cpp
- Revision:
- 0:a8cee96c9250
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/fct.cpp Sat Jun 10 04:58:21 2017 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "fct.h"
+#include "SRF05.h"
+
+void vitmoteur(float VitG, float VitD)
+{
+ if(VitG<0) {
+ VitG=-1*VitG;
+ cmdI2C=cmdI2C&0xfe; //passe le moteur gauche en marche arriere 00000001
+ } else {
+ cmdI2C=cmdI2C|0x01; // marche avant 11110111 mot gauche
+ }
+ if(VitD<0) {
+ VitD=-1*VitD;
+ cmdI2C=cmdI2C&0xfd; //passe le moteur gauche en marche arriere 00000100
+ } else {
+ cmdI2C=cmdI2C|0x02;//marche avant 11111011 mot droit
+ }
+ monI2C.write(ADR_PCF,&cmdI2C,1);
+ MotG.pulsewidth(((100-VitG)/100.0)*PERIOD);
+ MotD.pulsewidth(((100-VitD)/100.0)*PERIOD);
+}
+void lecture_blanc(void)
+{
+ if(C1.read()>0.5) {
+ captL1=0;
+ } else {
+ captL1=1;
+ }
+ if(C3.read()>0.5) {
+ captL3=0;
+ } else {
+ captL3=1;
+ }
+}
+
+void lecture_us(void)
+{
+ us_arriere=us_arr.read();
+}
+
+void init(void)
+{
+ bp.mode(PullUp);
+ MotG.period(PERIOD);
+ MotD.period(PERIOD);
+ vitmoteur(0,0);
+}
+
+void lecture_boussole(void)
+{
+ gBoussole=Boussole.readBearing() / 10.0;
+}
\ No newline at end of file