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pixy info2
Dependencies: CMPS03 SRF05 mbed pixy
Fork of 0000Non_stop_code_v3 by
main.cpp@0:a8cee96c9250, 2017-06-10 (annotated)
- Committer:
- pirottealex
- Date:
- Sat Jun 10 04:58:21 2017 +0000
- Revision:
- 0:a8cee96c9250
- Child:
- 1:99f469d63b9a
rrrr
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pirottealex | 0:a8cee96c9250 | 1 | #include "mbed.h" |
pirottealex | 0:a8cee96c9250 | 2 | #include "fct.h" |
pirottealex | 0:a8cee96c9250 | 3 | #include "Pixy.h" |
pirottealex | 0:a8cee96c9250 | 4 | #include "PixyLink.h" |
pirottealex | 0:a8cee96c9250 | 5 | #include "SRF05.h" |
pirottealex | 0:a8cee96c9250 | 6 | #include <CMPS03.h> |
pirottealex | 0:a8cee96c9250 | 7 | |
pirottealex | 0:a8cee96c9250 | 8 | Serial pc (USBTX,USBRX); |
pirottealex | 0:a8cee96c9250 | 9 | int main() |
pirottealex | 0:a8cee96c9250 | 10 | { |
pirottealex | 0:a8cee96c9250 | 11 | init(); |
pirottealex | 0:a8cee96c9250 | 12 | Pixy pixy= Pixy(p28,p27); |
pirottealex | 0:a8cee96c9250 | 13 | pixy.setSerialOutput(&pc); |
pirottealex | 0:a8cee96c9250 | 14 | pc.printf("alive"); |
pirottealex | 0:a8cee96c9250 | 15 | |
pirottealex | 0:a8cee96c9250 | 16 | while(1) { |
pirottealex | 0:a8cee96c9250 | 17 | lecture_blanc(); // recupere valeurs capteurs ligne blanche |
pirottealex | 0:a8cee96c9250 | 18 | lecture_us(); // recupere valeurs capteurs us |
pirottealex | 0:a8cee96c9250 | 19 | lecture_boussole(); //gBoussole |
pirottealex | 0:a8cee96c9250 | 20 | bout=bp.read(); |
pirottealex | 0:a8cee96c9250 | 21 | blocks = pixy.getBlocks(); |
pirottealex | 0:a8cee96c9250 | 22 | //pc.printf("etat=%d\n\r",etat); |
pirottealex | 0:a8cee96c9250 | 23 | //pc.printf("etat=%d,capt1= %d, capt2= %d, us_ar=%f, bp=%d, boussole=%f\n\r",etat,captL1,captL3,us_arriere,bp.read(),gBoussole); |
pirottealex | 0:a8cee96c9250 | 24 | if (blocks) { |
pirottealex | 0:a8cee96c9250 | 25 | taille=pixy.blocks[j].width*pixy.blocks[j].height; |
pirottealex | 0:a8cee96c9250 | 26 | errorX = (160-pixy.blocks[j].x); |
pirottealex | 0:a8cee96c9250 | 27 | //pc.printf("sig: %d x: %d y: %d width: %d height: %d\n\r", pixy.blocks[j].signature, pixy.blocks[j].x, pixy.blocks[j].y, pixy.blocks[j].width, pixy.blocks[j].height); |
pirottealex | 0:a8cee96c9250 | 28 | //pc.printf("OK"); |
pirottealex | 0:a8cee96c9250 | 29 | } |
pirottealex | 0:a8cee96c9250 | 30 | |
pirottealex | 0:a8cee96c9250 | 31 | switch(etat) |
pirottealex | 0:a8cee96c9250 | 32 | { |
pirottealex | 0:a8cee96c9250 | 33 | case(0) : |
pirottealex | 0:a8cee96c9250 | 34 | |
pirottealex | 0:a8cee96c9250 | 35 | if(bout==0) |
pirottealex | 0:a8cee96c9250 | 36 | { |
pirottealex | 0:a8cee96c9250 | 37 | etat=100; |
pirottealex | 0:a8cee96c9250 | 38 | cap_set=gBoussole; |
pirottealex | 0:a8cee96c9250 | 39 | } |
pirottealex | 0:a8cee96c9250 | 40 | break; |
pirottealex | 0:a8cee96c9250 | 41 | |
pirottealex | 0:a8cee96c9250 | 42 | case(100): |
pirottealex | 0:a8cee96c9250 | 43 | |
pirottealex | 0:a8cee96c9250 | 44 | if(blocks) |
pirottealex | 0:a8cee96c9250 | 45 | { |
pirottealex | 0:a8cee96c9250 | 46 | etat=1; |
pirottealex | 0:a8cee96c9250 | 47 | } |
pirottealex | 0:a8cee96c9250 | 48 | |
pirottealex | 0:a8cee96c9250 | 49 | else |
pirottealex | 0:a8cee96c9250 | 50 | { |
pirottealex | 0:a8cee96c9250 | 51 | etat=21; |
pirottealex | 0:a8cee96c9250 | 52 | } |
pirottealex | 0:a8cee96c9250 | 53 | break; |
pirottealex | 0:a8cee96c9250 | 54 | |
pirottealex | 0:a8cee96c9250 | 55 | case(1) : |
pirottealex | 0:a8cee96c9250 | 56 | |
pirottealex | 0:a8cee96c9250 | 57 | if(!blocks) |
pirottealex | 0:a8cee96c9250 | 58 | { |
pirottealex | 0:a8cee96c9250 | 59 | etat=2; |
pirottealex | 0:a8cee96c9250 | 60 | tempo.stop(); |
pirottealex | 0:a8cee96c9250 | 61 | tempo.reset(); |
pirottealex | 0:a8cee96c9250 | 62 | tempo.start(); |
pirottealex | 0:a8cee96c9250 | 63 | } |
pirottealex | 0:a8cee96c9250 | 64 | break; |
pirottealex | 0:a8cee96c9250 | 65 | case(2) : |
pirottealex | 0:a8cee96c9250 | 66 | |
pirottealex | 0:a8cee96c9250 | 67 | if(tempo.read()>0.5) |
pirottealex | 0:a8cee96c9250 | 68 | { |
pirottealex | 0:a8cee96c9250 | 69 | etat=3; |
pirottealex | 0:a8cee96c9250 | 70 | } |
pirottealex | 0:a8cee96c9250 | 71 | break; |
pirottealex | 0:a8cee96c9250 | 72 | case(3) : |
pirottealex | 0:a8cee96c9250 | 73 | |
pirottealex | 0:a8cee96c9250 | 74 | if(us_arriere<25) |
pirottealex | 0:a8cee96c9250 | 75 | { |
pirottealex | 0:a8cee96c9250 | 76 | etat=100; |
pirottealex | 0:a8cee96c9250 | 77 | } |
pirottealex | 0:a8cee96c9250 | 78 | break; |
pirottealex | 0:a8cee96c9250 | 79 | case(21) : |
pirottealex | 0:a8cee96c9250 | 80 | cap_rot=cap_set+30; |
pirottealex | 0:a8cee96c9250 | 81 | if(cap_rot>360) |
pirottealex | 0:a8cee96c9250 | 82 | { |
pirottealex | 0:a8cee96c9250 | 83 | cap_rot=cap_rot-360; |
pirottealex | 0:a8cee96c9250 | 84 | } |
pirottealex | 0:a8cee96c9250 | 85 | |
pirottealex | 0:a8cee96c9250 | 86 | if((gBoussole>cap_rot)&&(gBoussole<cap_rot+180)) |
pirottealex | 0:a8cee96c9250 | 87 | { |
pirottealex | 0:a8cee96c9250 | 88 | etat=22; |
pirottealex | 0:a8cee96c9250 | 89 | } |
pirottealex | 0:a8cee96c9250 | 90 | if(blocks) |
pirottealex | 0:a8cee96c9250 | 91 | { |
pirottealex | 0:a8cee96c9250 | 92 | etat=1; |
pirottealex | 0:a8cee96c9250 | 93 | } |
pirottealex | 0:a8cee96c9250 | 94 | break; |
pirottealex | 0:a8cee96c9250 | 95 | case(22) : |
pirottealex | 0:a8cee96c9250 | 96 | cap_rot=cap_set-30; |
pirottealex | 0:a8cee96c9250 | 97 | if(cap_rot<0) |
pirottealex | 0:a8cee96c9250 | 98 | { |
pirottealex | 0:a8cee96c9250 | 99 | cap_rot=cap_rot+360; |
pirottealex | 0:a8cee96c9250 | 100 | } |
pirottealex | 0:a8cee96c9250 | 101 | |
pirottealex | 0:a8cee96c9250 | 102 | if((gBoussole<cap_rot)&&(gBoussole>cap_rot-180)) |
pirottealex | 0:a8cee96c9250 | 103 | { |
pirottealex | 0:a8cee96c9250 | 104 | etat=21; |
pirottealex | 0:a8cee96c9250 | 105 | } |
pirottealex | 0:a8cee96c9250 | 106 | if(blocks) |
pirottealex | 0:a8cee96c9250 | 107 | { |
pirottealex | 0:a8cee96c9250 | 108 | etat=1; |
pirottealex | 0:a8cee96c9250 | 109 | } |
pirottealex | 0:a8cee96c9250 | 110 | break; |
pirottealex | 0:a8cee96c9250 | 111 | |
pirottealex | 0:a8cee96c9250 | 112 | } |
pirottealex | 0:a8cee96c9250 | 113 | |
pirottealex | 0:a8cee96c9250 | 114 | switch(etat) |
pirottealex | 0:a8cee96c9250 | 115 | { |
pirottealex | 0:a8cee96c9250 | 116 | case(0) : vitmoteur(0,0);break; |
pirottealex | 0:a8cee96c9250 | 117 | |
pirottealex | 0:a8cee96c9250 | 118 | case(1) : vitmoteur(V_max-K*errorX,V_max+K*errorX);break; |
pirottealex | 0:a8cee96c9250 | 119 | |
pirottealex | 0:a8cee96c9250 | 120 | case(2) : vitmoteur(V_max,V_max);break; |
pirottealex | 0:a8cee96c9250 | 121 | |
pirottealex | 0:a8cee96c9250 | 122 | case(3) : vitmoteur(-V_moy,-V_moy);break; |
pirottealex | 0:a8cee96c9250 | 123 | |
pirottealex | 0:a8cee96c9250 | 124 | case(21) : vitmoteur(V_recherche,-V_recherche);break; |
pirottealex | 0:a8cee96c9250 | 125 | |
pirottealex | 0:a8cee96c9250 | 126 | case(22) : vitmoteur(-V_recherche,V_recherche);break; |
pirottealex | 0:a8cee96c9250 | 127 | |
pirottealex | 0:a8cee96c9250 | 128 | case(100) : break; |
pirottealex | 0:a8cee96c9250 | 129 | } |
pirottealex | 0:a8cee96c9250 | 130 | |
pirottealex | 0:a8cee96c9250 | 131 | } |
pirottealex | 0:a8cee96c9250 | 132 | } |
pirottealex | 0:a8cee96c9250 | 133 | |
pirottealex | 0:a8cee96c9250 | 134 | |
pirottealex | 0:a8cee96c9250 | 135 |