joey QUANTIN
/
pixy2_10_0042
ultra
main.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
qj604184 | 0:b3230a65c9b1 | 1 | #include "mbed.h" |
qj604184 | 0:b3230a65c9b1 | 2 | #include "fct.h" |
qj604184 | 0:b3230a65c9b1 | 3 | #include "Pixy.h" |
qj604184 | 0:b3230a65c9b1 | 4 | #include "PixyLink.h" |
qj604184 | 0:b3230a65c9b1 | 5 | #include "SRF05.h" |
qj604184 | 0:b3230a65c9b1 | 6 | |
qj604184 | 0:b3230a65c9b1 | 7 | #define V_max 25 |
qj604184 | 0:b3230a65c9b1 | 8 | #define V_recherche 25 |
qj604184 | 0:b3230a65c9b1 | 9 | #define K 0.1 |
qj604184 | 0:b3230a65c9b1 | 10 | DigitalOut cs(p13); |
qj604184 | 0:b3230a65c9b1 | 11 | DigitalIn bp(p14); |
qj604184 | 0:b3230a65c9b1 | 12 | Serial pc (USBTX,USBRX); |
qj604184 | 0:b3230a65c9b1 | 13 | SRF05 us_arr(p8,p24); |
qj604184 | 0:b3230a65c9b1 | 14 | |
qj604184 | 0:b3230a65c9b1 | 15 | int main() |
qj604184 | 0:b3230a65c9b1 | 16 | { |
qj604184 | 0:b3230a65c9b1 | 17 | MotG.period(PERIOD); |
qj604184 | 0:b3230a65c9b1 | 18 | MotD.period(PERIOD); |
qj604184 | 0:b3230a65c9b1 | 19 | float us_arriere; |
qj604184 | 0:b3230a65c9b1 | 20 | Vitmoteur(0.0,0.0); |
qj604184 | 0:b3230a65c9b1 | 21 | while(1) { |
qj604184 | 0:b3230a65c9b1 | 22 | |
qj604184 | 0:b3230a65c9b1 | 23 | //printf("Us_arriere : %.1f\n\r", us_arr.read()); |
qj604184 | 0:b3230a65c9b1 | 24 | us_arriere=us_arr.read(); |
qj604184 | 0:b3230a65c9b1 | 25 | if(us_arriere>20) { |
qj604184 | 0:b3230a65c9b1 | 26 | Vitmoteur(-30,-30); |
qj604184 | 0:b3230a65c9b1 | 27 | } |
qj604184 | 0:b3230a65c9b1 | 28 | else{ |
qj604184 | 0:b3230a65c9b1 | 29 | Vitmoteur(0,0); |
qj604184 | 0:b3230a65c9b1 | 30 | } |
qj604184 | 0:b3230a65c9b1 | 31 | } |
qj604184 | 0:b3230a65c9b1 | 32 | |
qj604184 | 0:b3230a65c9b1 | 33 | } |
qj604184 | 0:b3230a65c9b1 | 34 | |
qj604184 | 0:b3230a65c9b1 | 35 | |
qj604184 | 0:b3230a65c9b1 | 36 | |
qj604184 | 0:b3230a65c9b1 | 37 |