Alexandre Pirotte / Mbed 2 deprecated commande_robot_festival_reception_servo

coucou bob

Dependencies:   mbed

fct.cpp@0:e9a025a937b4, 2018-12-17 (annotated)

Committer:
pirottealex
Date:
Mon Dec 17 16:50:36 2018 +0000
Revision:
0:e9a025a937b4
robot play azur festival

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pirottealex 0:e9a025a937b4 1 #include "mbed.h"
pirottealex 0:e9a025a937b4 2 #include "fct.h"
pirottealex 0:e9a025a937b4 3
pirottealex 0:e9a025a937b4 4
pirottealex 0:e9a025a937b4 5 void vitmoteur(float VitG, float VitD)
pirottealex 0:e9a025a937b4 6 {
pirottealex 0:e9a025a937b4 7 if(VitG<0) {
pirottealex 0:e9a025a937b4 8 VitG=-1*VitG;
pirottealex 0:e9a025a937b4 9 cmdI2C=cmdI2C&0xfe; //passe le moteur gauche en marche arriere 00000001
pirottealex 0:e9a025a937b4 10 } else {
pirottealex 0:e9a025a937b4 11 cmdI2C=cmdI2C|0x01; // marche avant 11110111 mot gauche
pirottealex 0:e9a025a937b4 12 }
pirottealex 0:e9a025a937b4 13 if(VitD<0) {
pirottealex 0:e9a025a937b4 14 VitD=-1*VitD;
pirottealex 0:e9a025a937b4 15 cmdI2C=cmdI2C&0xfd; //passe le moteur gauche en marche arriere 00000100
pirottealex 0:e9a025a937b4 16 } else {
pirottealex 0:e9a025a937b4 17 cmdI2C=cmdI2C|0x02;//marche avant 11111011 mot droit
pirottealex 0:e9a025a937b4 18 }
pirottealex 0:e9a025a937b4 19 monI2C.write(ADR_PCF,&cmdI2C,1);
pirottealex 0:e9a025a937b4 20 MotG.pulsewidth(((100-VitG)/100.0)*PERIOD);
pirottealex 0:e9a025a937b4 21 MotD.pulsewidth(((100-VitD)/100.0)*PERIOD);
pirottealex 0:e9a025a937b4 22 }
pirottealex 0:e9a025a937b4 23
pirottealex 0:e9a025a937b4 24
pirottealex 0:e9a025a937b4 25 void init(void)
pirottealex 0:e9a025a937b4 26 {
pirottealex 0:e9a025a937b4 27
pirottealex 0:e9a025a937b4 28 MotG.period(PERIOD);
pirottealex 0:e9a025a937b4 29 MotD.period(PERIOD);
pirottealex 0:e9a025a937b4 30 vitmoteur(0,0);
pirottealex 0:e9a025a937b4 31 }
pirottealex 0:e9a025a937b4 32
pirottealex 0:e9a025a937b4 33
pirottealex 0:e9a025a937b4 34