Revision 0:e9a025a937b4, committed 2018-12-17

Comitter:

pirottealex

Date:

Mon Dec 17 16:50:36 2018 +0000

Commit message:

robot play azur festival

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/fct.cpp	Mon Dec 17 16:50:36 2018 +0000
@@ -0,0 +1,34 @@
+#include "mbed.h"
+#include "fct.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 init(void)
+{
+
+    MotG.period(PERIOD);
+    MotD.period(PERIOD);
+    vitmoteur(0,0);
+}
+
+
+    
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/fct.h	Mon Dec 17 16:50:36 2018 +0000
@@ -0,0 +1,31 @@
+#ifndef FCT_H
+#define FCT_H
+
+
+extern char cmdI2C ;// CS vbat x x x SensG SensD CS_G CD_D, sens moteur positif CS à 0.
+extern PwmOut MotD;
+extern PwmOut MotG;
+
+//GLOBALES
+
+
+extern I2C monI2C;
+
+
+
+
+//CONSTANTES
+#define ADR_PCF 0x70
+#define PERIOD 0.0001
+#define V_max 30
+#define V_recherche 18
+#define K 0.1
+#define V_moy 25
+
+
+//PROTOTYPES
+void vitmoteur(float,float);
+void init(void);
+
+
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/globals.cpp	Mon Dec 17 16:50:36 2018 +0000
@@ -0,0 +1,8 @@
+#include "mbed.h"
+char cmdI2C=0xF3 ;// CS vbat x x x SensG SensD CS_G CD_D, sens moteur positif CS à 0.
+PwmOut MotD(p25);
+PwmOut MotG(p22);
+
+I2C monI2C(p9,p10);
+
+

--- /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;
+                }
+            }
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Dec 17 16:50:36 2018 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/235179ab3f27
\ No newline at end of file