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init
Diff: main.cpp
- Revision:
- 0:98d2bcd7ae29
diff -r 000000000000 -r 98d2bcd7ae29 main.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Jun 09 23:20:19 2017 +0000 @@ -0,0 +1,73 @@ +#include "mbed.h" +#include "fct.h" +#include "Pixy.h" +#include "PixyLink.h" + +#define V_max 25 +#define V_recherche 25 +#define K 0.1 +DigitalOut cs(p13); +DigitalIn bp(p14); +Serial pc (USBTX,USBRX); + + + +int main() +{ + bp.mode(PullUp); + MotG.period(PERIOD); + MotD.period(PERIOD); + Vitmoteur(0.0,0.0); + Pixy pixy= Pixy(p28,p27); + pixy.setSerialOutput(&pc); + int j=0; + uint16_t blocks; + float taille,errorX; + pc.printf("alive"); + + + while(1) { + init();// recupere valeurs capteurs ligne blanche + pc.printf("capt1= %d capt2= %d\n\r",captL1,captL3); + wait(0.5); + if(captL1==0 && captL3==0) + { + Vitmoteur(20,20); + } + else{ + Vitmoteur(-20,-20); + wait(5); + } + +} +} +//printf("ok"); + +//MotD.pulsewidth(0.5*PERIOD); +//MotG.pulsewidth(0.5*PERIOD); +//MotD.pulsewidth(0.00005); + + /* blocks=pixy.getBlocks(); + if(blocks) { + taille = pixy.blocks[j].width*pixy.blocks[j].height; + errorX=(160-pixy.blocks[j].x); + Vitmoteur(V_max-K*errorX,V_max+K*errorX); + //pc.printf("ok"); + //Vitmoteur(1,-1); + } else { + //pc.printf("beug"); + Vitmoteur(0.0,0.0); + } + + if(errorX>V_max) { + errorX=V_max; + } + if(errorX<-V_max) { + errorX=-V_max; + } + Vitmoteur(V_max-K*errorX,V_max+K*errorX); + + }*/ + + +