Alexandre Pirotte / Mbed 2 deprecated 0000Non_stop_code_v2

mm

Dependencies:   CMPS03 SRF05 mbed pixy

fct.cpp@0:6c5fac591b01, 2018-02-08 (annotated)

Committer:
pirottealex
Date:
Thu Feb 08 19:35:15 2018 +0000
Revision:
0:6c5fac591b01
mm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pirottealex 0:6c5fac591b01 1 #include "mbed.h"
pirottealex 0:6c5fac591b01 2 #include "fct.h"
pirottealex 0:6c5fac591b01 3 #include "SRF05.h"
pirottealex 0:6c5fac591b01 4
pirottealex 0:6c5fac591b01 5 void vitmoteur(float VitG, float VitD)
pirottealex 0:6c5fac591b01 6 {
pirottealex 0:6c5fac591b01 7 if(VitG<0) {
pirottealex 0:6c5fac591b01 8 VitG=-1*VitG;
pirottealex 0:6c5fac591b01 9 cmdI2C=cmdI2C&0xfe; //passe le moteur gauche en marche arriere 00000001
pirottealex 0:6c5fac591b01 10 } else {
pirottealex 0:6c5fac591b01 11 cmdI2C=cmdI2C|0x01; // marche avant 11110111 mot gauche
pirottealex 0:6c5fac591b01 12 }
pirottealex 0:6c5fac591b01 13 if(VitD<0) {
pirottealex 0:6c5fac591b01 14 VitD=-1*VitD;
pirottealex 0:6c5fac591b01 15 cmdI2C=cmdI2C&0xfd; //passe le moteur gauche en marche arriere 00000100
pirottealex 0:6c5fac591b01 16 } else {
pirottealex 0:6c5fac591b01 17 cmdI2C=cmdI2C|0x02;//marche avant 11111011 mot droit
pirottealex 0:6c5fac591b01 18 }
pirottealex 0:6c5fac591b01 19 monI2C.write(ADR_PCF,&cmdI2C,1);
pirottealex 0:6c5fac591b01 20 MotG.pulsewidth(((100-VitG)/100.0)*PERIOD);
pirottealex 0:6c5fac591b01 21 MotD.pulsewidth(((100-VitD)/100.0)*PERIOD);
pirottealex 0:6c5fac591b01 22 }
pirottealex 0:6c5fac591b01 23 void lecture_blanc(void)
pirottealex 0:6c5fac591b01 24 {
pirottealex 0:6c5fac591b01 25 if(C1.read()>0.5) {
pirottealex 0:6c5fac591b01 26 captL1=0;
pirottealex 0:6c5fac591b01 27 } else {
pirottealex 0:6c5fac591b01 28 captL1=1;
pirottealex 0:6c5fac591b01 29 }
pirottealex 0:6c5fac591b01 30 if(C3.read()>0.5) {
pirottealex 0:6c5fac591b01 31 captL3=0;
pirottealex 0:6c5fac591b01 32 } else {
pirottealex 0:6c5fac591b01 33 captL3=1;
pirottealex 0:6c5fac591b01 34 }
pirottealex 0:6c5fac591b01 35 }
pirottealex 0:6c5fac591b01 36
pirottealex 0:6c5fac591b01 37 void lecture_an(void)
pirottealex 0:6c5fac591b01 38 {
pirottealex 0:6c5fac591b01 39 capt_av=SD_2.read()*3.3;
pirottealex 0:6c5fac591b01 40 capt_av=(10/(capt_av-0.5))-0.42;
pirottealex 0:6c5fac591b01 41 if(capt_av<0)
pirottealex 0:6c5fac591b01 42 {
pirottealex 0:6c5fac591b01 43 capt_av=80;
pirottealex 0:6c5fac591b01 44 }
pirottealex 0:6c5fac591b01 45
pirottealex 0:6c5fac591b01 46 distance_av=a/(3.3*LD_2.read()-b);
pirottealex 0:6c5fac591b01 47 if(distance_av>120 || distance_av<20)
pirottealex 0:6c5fac591b01 48 {
pirottealex 0:6c5fac591b01 49 distance_av=0;
pirottealex 0:6c5fac591b01 50 }
pirottealex 0:6c5fac591b01 51
pirottealex 0:6c5fac591b01 52 }
pirottealex 0:6c5fac591b01 53
pirottealex 0:6c5fac591b01 54
pirottealex 0:6c5fac591b01 55
pirottealex 0:6c5fac591b01 56 void lecture_us(void)
pirottealex 0:6c5fac591b01 57 {
pirottealex 0:6c5fac591b01 58 us_arriere=us_arr.read();
pirottealex 0:6c5fac591b01 59 }
pirottealex 0:6c5fac591b01 60
pirottealex 0:6c5fac591b01 61 void init(void)
pirottealex 0:6c5fac591b01 62 {
pirottealex 0:6c5fac591b01 63 bp.mode(PullUp);
pirottealex 0:6c5fac591b01 64 MotG.period(PERIOD);
pirottealex 0:6c5fac591b01 65 MotD.period(PERIOD);
pirottealex 0:6c5fac591b01 66 //vitmoteur(0,0);
pirottealex 0:6c5fac591b01 67 }
pirottealex 0:6c5fac591b01 68
pirottealex 0:6c5fac591b01 69 void lecture_boussole(void)
pirottealex 0:6c5fac591b01 70 {
pirottealex 0:6c5fac591b01 71 gBoussole=Boussole.readBearing() / 10.0;
pirottealex 0:6c5fac591b01 72 }