Diff: main.cpp

Revision:

0:e9a025a937b4

diff -r 000000000000 -r e9a025a937b4 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Dec 17 16:50:36 2018 +0000
@@ -0,0 +1,131 @@
+#include "mbed.h"
+#include "fct.h"
+#define TIC_POSITION 0.0005
+#define PERIOD_SERVO 0.01999
+
+Serial pc(USBTX, USBRX); // tx, rx - Liaison série
+Serial device(p28, p27);  // tx, rx - Liaison série
+DigitalOut Servo(p21);
+
+char c;
+char msg[15];
+int count=0;
+char *token;
+int MG, MD, bout1,bout2,bp;
+Ticker tic1;
+Timer t_servo;
+int POSITION;
+float KVIT=1;
+void servo_position( void)
+{
+    float t = t_servo.read();
+    if(t>=PERIOD_SERVO) 
+    {
+        t_servo.reset();
+    }
+    if(t>=0.001+(POSITION /100000.0)) 
+    {
+        Servo.write(0);
+    } 
+    else 
+    {
+        Servo.write(1);
+    }
+}
+
+
+int main()
+{
+
+    init();
+    pc.baud(19200);
+    device.baud(2400);
+    device.format(8,SerialBase::None,2);
+    vitmoteur(0,0);
+    t_servo.start();
+    tic1.attach(&servo_position,TIC_POSITION);
+    while(1) {
+        
+        if(bout1==1) 
+        {
+            POSITION=-35;
+        } 
+        else 
+        {
+            POSITION=80;
+        }
+        if(bout2==1)
+        {
+            KVIT=1.5;
+        }
+        else
+        {
+            KVIT=1;
+        }
+        if(device.readable()) 
+        {
+            c=device.getc();
+            if(c=='*') 
+            {
+                msg[count] = c;
+                if(count>=7) 
+                {
+
+                    pc.printf("msg = %s\n\r",msg);
+
+                    token = strtok(msg," *");
+                    //printf("token = %s\n\r",token);
+                    MG= atoi(token);
+                    //printf("MG=%d\n\r",MG);
+
+                    token = strtok(NULL, " *");
+                    //printf("token = %s\n\r",token);
+                    MD= atoi(token);
+                    //printf("MD=%d\n\r",MD);
+
+                    token = strtok(NULL, " *");
+                    //printf("token = %s\n\r",token);
+                    bout1= atoi(token);
+                    //printf("bout1=%d\n\r",bout1);
+
+                    token = strtok(NULL, " *");
+                    //printf("token = %s\n\r",token);
+                    bout2= atoi(token);
+                    //printf("bout2=%d\n\r",bout2);
+
+                    vitmoteur(MG*KVIT,MD*KVIT);
+
+                    for (int i=0; i<15; i++) 
+                    {
+                        msg[i]=0;
+                    }
+                    count=0;
+                } 
+                else 
+                {
+                    for (int i=0; i<15; i++) 
+                    {
+                        msg[i]=0;
+                    }
+                    count=0;
+                    //vitmoteur(0,0);
+                }
+            } 
+            else 
+            {
+
+                msg[count] = c;
+                //pc.printf("%c\n\r",c);
+                //pc.putc(device.getc());
+                count=count+1;
+
+                if(count>13) {
+                    for (int i=0; i<15; i++) {
+                        msg[i]=0;
+                    }
+                    count=0;
+                }
+            }
+        }
+    }
+}