joey QUANTIN / Mbed 2 deprecated pixy2_10_0042

ultra

Dependencies:   SRF05 mbed pixy

fct.cpp@0:b3230a65c9b1, 2017-06-09 (annotated)

Committer:
qj604184
Date:
Fri Jun 09 23:21:14 2017 +0000
Revision:
0:b3230a65c9b1
cachanNRCultra

Who changed what in which revision?

UserRevisionLine numberNew contents of line
qj604184 0:b3230a65c9b1 1 #include "mbed.h"
qj604184 0:b3230a65c9b1 2 #include "fct.h"
qj604184 0:b3230a65c9b1 3
qj604184 0:b3230a65c9b1 4 void Vitmoteur(float VitG, float VitD)
qj604184 0:b3230a65c9b1 5 {
qj604184 0:b3230a65c9b1 6 if(VitG<0) {
qj604184 0:b3230a65c9b1 7 VitG=-1*VitG;
qj604184 0:b3230a65c9b1 8 cmdI2C=cmdI2C&0xfe; //passe le moteur gauche en marche arriere 00000001
qj604184 0:b3230a65c9b1 9 } else {
qj604184 0:b3230a65c9b1 10 cmdI2C=cmdI2C|0x01; // marche avant 11110111 mot gauche
qj604184 0:b3230a65c9b1 11 }
qj604184 0:b3230a65c9b1 12 if(VitD<0) {
qj604184 0:b3230a65c9b1 13 VitD=-1*VitD;
qj604184 0:b3230a65c9b1 14 cmdI2C=cmdI2C&0xfd; //passe le moteur gauche en marche arriere 00000100
qj604184 0:b3230a65c9b1 15 } else {
qj604184 0:b3230a65c9b1 16 cmdI2C=cmdI2C|0x02;//marche avant 11111011 mot droit
qj604184 0:b3230a65c9b1 17 }
qj604184 0:b3230a65c9b1 18 monI2C.write(ADR_PCF,&cmdI2C,1);
qj604184 0:b3230a65c9b1 19 MotG.pulsewidth(((100-VitG)/100.0)*PERIOD);
qj604184 0:b3230a65c9b1 20 MotD.pulsewidth(((100-VitD)/100.0)*PERIOD);
qj604184 0:b3230a65c9b1 21 }
qj604184 0:b3230a65c9b1 22 void init(void)
qj604184 0:b3230a65c9b1 23 {
qj604184 0:b3230a65c9b1 24 if(C1.read()>0.5) {
qj604184 0:b3230a65c9b1 25 captL1=0;
qj604184 0:b3230a65c9b1 26 } else {
qj604184 0:b3230a65c9b1 27 captL1=1;
qj604184 0:b3230a65c9b1 28 }
qj604184 0:b3230a65c9b1 29 if(C3.read()>0.5) {
qj604184 0:b3230a65c9b1 30 captL3=0;
qj604184 0:b3230a65c9b1 31 } else {
qj604184 0:b3230a65c9b1 32 captL3=1;
qj604184 0:b3230a65c9b1 33 }
qj604184 0:b3230a65c9b1 34
qj604184 0:b3230a65c9b1 35
qj604184 0:b3230a65c9b1 36
qj604184 0:b3230a65c9b1 37 }