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Dependencies: CMPS03 SRF05 mbed pixy
Fork of 0000Non_stop_code_v3 by
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