joey QUANTIN
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pixy2_10_0042
ultra
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main.cpp
00001 #include "mbed.h" 00002 #include "fct.h" 00003 #include "Pixy.h" 00004 #include "PixyLink.h" 00005 #include "SRF05.h" 00006 00007 #define V_max 25 00008 #define V_recherche 25 00009 #define K 0.1 00010 DigitalOut cs(p13); 00011 DigitalIn bp(p14); 00012 Serial pc (USBTX,USBRX); 00013 SRF05 us_arr(p8,p24); 00014 00015 int main() 00016 { 00017 MotG.period(PERIOD); 00018 MotD.period(PERIOD); 00019 float us_arriere; 00020 Vitmoteur(0.0,0.0); 00021 while(1) { 00022 00023 //printf("Us_arriere : %.1f\n\r", us_arr.read()); 00024 us_arriere=us_arr.read(); 00025 if(us_arriere>20) { 00026 Vitmoteur(-30,-30); 00027 } 00028 else{ 00029 Vitmoteur(0,0); 00030 } 00031 } 00032 00033 } 00034 00035 00036 00037
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