joey QUANTIN / Mbed 2 deprecated pixy2

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Dependencies:   mbed pixy

fct.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
qj604184 0:98d2bcd7ae29 4 void Vitmoteur(float VitG, float VitD)
qj604184 0:98d2bcd7ae29 5 {
qj604184 0:98d2bcd7ae29 6 if(VitG<0) {
qj604184 0:98d2bcd7ae29 7 VitG=-1*VitG;
qj604184 0:98d2bcd7ae29 8 cmdI2C=cmdI2C&0xfe; //passe le moteur gauche en marche arriere 00000001
qj604184 0:98d2bcd7ae29 9 } else {
qj604184 0:98d2bcd7ae29 10 cmdI2C=cmdI2C|0x01; // marche avant 11110111 mot gauche
qj604184 0:98d2bcd7ae29 11 }
qj604184 0:98d2bcd7ae29 12 if(VitD<0) {
qj604184 0:98d2bcd7ae29 13 VitD=-1*VitD;
qj604184 0:98d2bcd7ae29 14 cmdI2C=cmdI2C&0xfd; //passe le moteur gauche en marche arriere 00000100
qj604184 0:98d2bcd7ae29 15 } else {
qj604184 0:98d2bcd7ae29 16 cmdI2C=cmdI2C|0x02;//marche avant 11111011 mot droit
qj604184 0:98d2bcd7ae29 17 }
qj604184 0:98d2bcd7ae29 18 monI2C.write(ADR_PCF,&cmdI2C,1);
qj604184 0:98d2bcd7ae29 19 MotG.pulsewidth(((100-VitG)/100.0)*PERIOD);
qj604184 0:98d2bcd7ae29 20 MotD.pulsewidth(((100-VitD)/100.0)*PERIOD);
qj604184 0:98d2bcd7ae29 21 }
qj604184 0:98d2bcd7ae29 22 void init(void)
qj604184 0:98d2bcd7ae29 23 {
qj604184 0:98d2bcd7ae29 24 if(C1.read()>0.5) {
qj604184 0:98d2bcd7ae29 25 captL1=0;
qj604184 0:98d2bcd7ae29 26 } else {
qj604184 0:98d2bcd7ae29 27 captL1=1;
qj604184 0:98d2bcd7ae29 28 }
qj604184 0:98d2bcd7ae29 29 if(C3.read()>0.5) {
qj604184 0:98d2bcd7ae29 30 captL3=0;
qj604184 0:98d2bcd7ae29 31 } else {
qj604184 0:98d2bcd7ae29 32 captL3=1;
qj604184 0:98d2bcd7ae29 33 }
qj604184 0:98d2bcd7ae29 34
qj604184 0:98d2bcd7ae29 35
qj604184 0:98d2bcd7ae29 36
qj604184 0:98d2bcd7ae29 37 }