joey QUANTIN / Mbed 2 deprecated pixy2

init

Dependencies:   mbed pixy

main.cpp@0:98d2bcd7ae29, 2017-06-09 (annotated)

Committer:
qj604184
Date:
Fri Jun 09 23:20:19 2017 +0000
Revision:
0:98d2bcd7ae29
cachanNRC

Who changed what in which revision?

UserRevisionLine numberNew contents of line
qj604184 0:98d2bcd7ae29 1 #include "mbed.h"
qj604184 0:98d2bcd7ae29 2 #include "fct.h"
qj604184 0:98d2bcd7ae29 3 #include "Pixy.h"
qj604184 0:98d2bcd7ae29 4 #include "PixyLink.h"
qj604184 0:98d2bcd7ae29 5
qj604184 0:98d2bcd7ae29 6 #define V_max 25
qj604184 0:98d2bcd7ae29 7 #define V_recherche 25
qj604184 0:98d2bcd7ae29 8 #define K 0.1
qj604184 0:98d2bcd7ae29 9 DigitalOut cs(p13);
qj604184 0:98d2bcd7ae29 10 DigitalIn bp(p14);
qj604184 0:98d2bcd7ae29 11 Serial pc (USBTX,USBRX);
qj604184 0:98d2bcd7ae29 12
qj604184 0:98d2bcd7ae29 13
qj604184 0:98d2bcd7ae29 14
qj604184 0:98d2bcd7ae29 15 int main()
qj604184 0:98d2bcd7ae29 16 {
qj604184 0:98d2bcd7ae29 17 bp.mode(PullUp);
qj604184 0:98d2bcd7ae29 18 MotG.period(PERIOD);
qj604184 0:98d2bcd7ae29 19 MotD.period(PERIOD);
qj604184 0:98d2bcd7ae29 20 Vitmoteur(0.0,0.0);
qj604184 0:98d2bcd7ae29 21 Pixy pixy= Pixy(p28,p27);
qj604184 0:98d2bcd7ae29 22 pixy.setSerialOutput(&pc);
qj604184 0:98d2bcd7ae29 23 int j=0;
qj604184 0:98d2bcd7ae29 24 uint16_t blocks;
qj604184 0:98d2bcd7ae29 25 float taille,errorX;
qj604184 0:98d2bcd7ae29 26 pc.printf("alive");
qj604184 0:98d2bcd7ae29 27
qj604184 0:98d2bcd7ae29 28
qj604184 0:98d2bcd7ae29 29 while(1) {
qj604184 0:98d2bcd7ae29 30 init();// recupere valeurs capteurs ligne blanche
qj604184 0:98d2bcd7ae29 31 pc.printf("capt1= %d capt2= %d\n\r",captL1,captL3);
qj604184 0:98d2bcd7ae29 32 wait(0.5);
qj604184 0:98d2bcd7ae29 33 if(captL1==0 && captL3==0)
qj604184 0:98d2bcd7ae29 34 {
qj604184 0:98d2bcd7ae29 35 Vitmoteur(20,20);
qj604184 0:98d2bcd7ae29 36 }
qj604184 0:98d2bcd7ae29 37 else{
qj604184 0:98d2bcd7ae29 38 Vitmoteur(-20,-20);
qj604184 0:98d2bcd7ae29 39 wait(5);
qj604184 0:98d2bcd7ae29 40 }
qj604184 0:98d2bcd7ae29 41
qj604184 0:98d2bcd7ae29 42 }
qj604184 0:98d2bcd7ae29 43 }
qj604184 0:98d2bcd7ae29 44 //printf("ok");
qj604184 0:98d2bcd7ae29 45
qj604184 0:98d2bcd7ae29 46 //MotD.pulsewidth(0.5*PERIOD);
qj604184 0:98d2bcd7ae29 47 //MotG.pulsewidth(0.5*PERIOD);
qj604184 0:98d2bcd7ae29 48 //MotD.pulsewidth(0.00005);
qj604184 0:98d2bcd7ae29 49
qj604184 0:98d2bcd7ae29 50 /* blocks=pixy.getBlocks();
qj604184 0:98d2bcd7ae29 51 if(blocks) {
qj604184 0:98d2bcd7ae29 52 taille = pixy.blocks[j].width*pixy.blocks[j].height;
qj604184 0:98d2bcd7ae29 53 errorX=(160-pixy.blocks[j].x);
qj604184 0:98d2bcd7ae29 54 Vitmoteur(V_max-K*errorX,V_max+K*errorX);
qj604184 0:98d2bcd7ae29 55 //pc.printf("ok");
qj604184 0:98d2bcd7ae29 56 //Vitmoteur(1,-1);
qj604184 0:98d2bcd7ae29 57 } else {
qj604184 0:98d2bcd7ae29 58 //pc.printf("beug");
qj604184 0:98d2bcd7ae29 59 Vitmoteur(0.0,0.0);
qj604184 0:98d2bcd7ae29 60 }
qj604184 0:98d2bcd7ae29 61
qj604184 0:98d2bcd7ae29 62 if(errorX>V_max) {
qj604184 0:98d2bcd7ae29 63 errorX=V_max;
qj604184 0:98d2bcd7ae29 64 }
qj604184 0:98d2bcd7ae29 65 if(errorX<-V_max) {
qj604184 0:98d2bcd7ae29 66 errorX=-V_max;
qj604184 0:98d2bcd7ae29 67 }
qj604184 0:98d2bcd7ae29 68 Vitmoteur(V_max-K*errorX,V_max+K*errorX);
qj604184 0:98d2bcd7ae29 69
qj604184 0:98d2bcd7ae29 70 }*/
qj604184 0:98d2bcd7ae29 71
qj604184 0:98d2bcd7ae29 72
qj604184 0:98d2bcd7ae29 73