Rakul Iyngarathasan / Mbed 2 deprecated ROBOT_2-0

noraml

Dependencies:   mbed IHM_V2

Files at this revision

API Documentation at this revision

Revision 0:7e4a20d28a90, committed 2019-01-23

Comitter:
rakul
Date:
Wed Jan 23 18:40:02 2019 +0000
Commit message:
yolo;

Changed in this revision

IHM_V2.lib Show annotated file Show diff for this revision Revisions of this file
Nboard.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IHM_V2.lib	Wed Jan 23 18:40:02 2019 +0000
@@ -0,0 +1,1 @@
+http://os.mbed.com/teams/NBoard/code/IHM_V2/#ad91067e3f6d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Nboard.h	Wed Jan 23 18:40:02 2019 +0000
@@ -0,0 +1,35 @@
+#include "mbed.h"
+
+DigitalOut LED0(PB_3);
+DigitalOut led1(PA_7);
+DigitalOut led2(PA_6);
+DigitalOut led3(PA_5);
+DigitalOut led4(PA_3);
+DigitalOut led5(PA_1);
+DigitalOut led6(PA_0);
+DigitalOut led7(PA_2);
+
+DigitalIn BP0(PA_9,PullUp);
+DigitalIn BP1(PA_10,PullUp);
+DigitalIn BP2(PB_0,PullUp);
+//DigitalIn BP3(PB_7,PullUp);
+
+
+DigitalIn Jack(PB_6,PullUp);
+DigitalIn BP(PB_7,PullUp);
+
+AnalogIn AnaIn(PB_1);
+PwmOut pwmd(PB_4);
+PwmOut pwmg(PB_5);
+
+BusOut LEDs(PB_3,PA_7,PA_6,PA_5,PA_3,PA_1,PA_0,PA_2);
+BusOut BusSelectMux (PA_8,PF_1,PF_0);
+
+#define Ana0 0
+#define Ana1 1
+#define Ana2 2
+#define Ana3 3
+#define Ana4 4
+#define Ana5 5
+#define AIn 6
+#define Vpot 7
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Jan 23 18:40:02 2019 +0000
@@ -0,0 +1,391 @@
+#include "IHM.h"                // contient mbed.h
+#include "Nboard.h"      
+#define ENFONCE 0
+#define CONSTANTE 0.7
+
+IHM ihm;
+Timer timer;
+char rar; 
+float vpot,capt_eg,capt_cg,capt_cd,capt_rac,capt_ed;
+
+void test();
+void course();
+void nouvel_suivi_automate();
+void raccourci();
+
+/*-------------------------------------------------------------------------------------------------*/
+int main(void)
+{
+    unsigned char choix=0;
+    
+    ihm.LCD_clear();
+    timer.reset();
+    timer.start();
+    
+    while (timer.read()<3)
+        {
+            if (BP0==ENFONCE)
+                choix=1;
+        }
+        
+    if (choix==1)
+        {
+            test();
+        }
+    
+    else
+        course();
+    
+    return 0;
+}
+/*----------------------------------------------------------------------------------------------------------*/
+void test(void)
+{
+    
+    ihm.LCD_gotoxy(0,0);
+    ihm.LCD_printf("TEST Robot D3");
+    wait(1.0);
+    
+    pwmg.period_us(50);
+    pwmd.period_us(50);
+    ihm.LCD_clear();
+    
+    while (1)
+    {   
+      BusSelectMux = Ana1;//centre gauche
+      wait_us(1);
+      capt_cg=AnaIn.read();
+
+      BusSelectMux = Ana2;//centre droit
+      wait_us(1);
+      capt_cd=AnaIn.read();
+
+      BusSelectMux = Ana0;//gauche
+      wait_us(1);
+      capt_eg=AnaIn.read();
+
+      BusSelectMux = Ana5;//droite
+      wait_us(1);
+      capt_ed=AnaIn.read();
+
+      BusSelectMux = Ana4;//raccourci
+      wait_us(1);
+      capt_rac=AnaIn.read();
+      
+      
+            if (capt_rac>CONSTANTE)
+                led4=1;
+            else
+                led4=0;
+            
+            if (capt_eg>CONSTANTE)
+                led3=1;
+            else
+                led3=0;
+            
+            if (capt_cg>CONSTANTE)
+                led2=1;
+            else
+                led2=0;
+            
+            if (capt_cd>CONSTANTE)
+                led1=1;
+            else
+                led1=0;
+            
+            if (capt_ed>CONSTANTE)
+                LED0=1;
+            else
+                LED0=0; 
+      
+
+      ihm.LCD_gotoxy(0,0);
+      ihm.LCD_printf("%3.2f", capt_rac);//raccourci
+      ihm.LCD_gotoxy(1,3);
+      ihm.LCD_printf("%3.2f ", capt_eg);//gauche
+      ihm.LCD_gotoxy(0,6);
+      ihm.LCD_printf("%3.2f", capt_cg);//centre gauche
+      ihm.LCD_gotoxy(1,9);
+      ihm.LCD_printf("%3.2f", capt_cd);//centre droit
+      ihm.LCD_gotoxy(0,12);
+      ihm.LCD_printf("%3.2f", capt_ed);//droite
+      
+      //Test moteurs.
+        if(BP2==0)//gauche 
+            {
+                pwmg.write(0);
+                pwmd.write(0.25);          
+                wait(2);
+                pwmg.write(0);
+                pwmd.write(0);
+            }
+            if(BP1==0)//droite
+            {              
+                pwmg.write(0.25);
+                pwmd.write(0);              
+                wait(2);
+                pwmg.write(0);
+                pwmd.write(0);
+            } 
+         if(BP0 == 0)
+            {
+                while(BP0==0)
+                {
+                    BusSelectMux = Vpot; 
+                    wait_us(1);
+                    vpot=AnaIn.read();
+                    pwmd.write(vpot);
+                    pwmg.write(vpot);                 
+                }
+                pwmg.write(0);
+                pwmd.write(0);  
+            }
+      //Test Bouton Poussoir.     
+      if (BP==1)
+            led7=1;
+      else
+            led7=0;
+    
+      if (Jack==0)
+            course();
+    }
+}
+/*----------------------------------------------------------------------------------------------------------*/
+void course(void)
+    {
+    ihm.LCD_clear();    
+     LEDs=0x80;
+        
+    pwmg.period_us(50);
+    pwmd.period_us(50);
+    
+    ihm.LCD_gotoxy(0,0);
+    ihm.LCD_printf("COURSE D3: Jack?");
+    
+    //Attente du Jack.
+   
+    while (Jack==1)
+    {
+        BusSelectMux = Vpot;
+        wait_us(1);
+        vpot=AnaIn.read();
+        
+        ihm.LCD_gotoxy(1,0);
+        ihm.LCD_printf("%3.2f",vpot);  //Affichage valeur potentiomètre.
+        
+        //Chenillard d'attente.
+        LEDs=LEDs>>1;
+        wait(0.5-vpot);
+            if(LEDs==0x01)
+             {
+                    LEDs=0x80;
+                     wait(0.5-vpot);
+             }
+    }
+    
+    //Lancement du timer.
+    timer.reset();
+    timer.start();
+    
+    //Départ du robot sur la ligne.
+        
+                while(1)   
+                {
+                    /*if (0<rar && rar<3)
+                    {raccourci();}
+                    else*/ 
+                    nouvel_suivi_automate();
+                     
+                }
+    
+
+ }
+ /*--------------------------------------------------------------------------------------------------------------------------*/   
+void nouvel_suivi_automate(void)
+{
+    typedef enum {ligne, sortieD, attente, sortieG,arret} type_suivi ;
+    static type_suivi suivi = ligne ;
+    
+      BusSelectMux = Ana1;//centre gauche
+      wait_us(1);
+      capt_cg=AnaIn.read();
+
+      BusSelectMux = Ana2;//centre droit
+      wait_us(1);
+      capt_cd=AnaIn.read();
+
+      BusSelectMux = Ana0;//gauche
+      wait_us(1);
+      capt_eg=AnaIn.read();
+
+      BusSelectMux = Ana5;//droite
+      wait_us(1);
+      capt_ed=AnaIn.read();
+
+      BusSelectMux = Ana4;//raccourci
+      wait_us(1);
+      capt_rac=AnaIn.read();           
+    
+    
+    switch(suivi)
+    {
+        case ligne:
+                    pwmg.write(0.26+vpot);
+                    pwmd.write(0.25+vpot); 
+                  
+               /* if(capt_rac>CONSTANTE &&  capt_ed<CONSTANTE)
+                {
+                    rar=1;
+                }*/
+                if(capt_cg > CONSTANTE && capt_cd < CONSTANTE)
+                {
+                    suivi = sortieD;
+                }  
+                else if(capt_cg < CONSTANTE && capt_cd > CONSTANTE)
+                {
+                    suivi = sortieG;
+                    
+                }
+                 
+               
+                break;   
+        
+    case sortieD: //correction sortie droite
+                    pwmg.write(0.15+vpot);
+                    pwmd.write(0.45+vpot);
+                    
+                    if(capt_cg > CONSTANTE && capt_cd > CONSTANTE)
+                    {
+                    suivi = ligne;
+                    }        
+                    
+                  break;
+                    
+     case sortieG: //correction sortie gauche
+                pwmg.write(0.45+vpot);
+                pwmd.write(0.15+vpot);  
+             
+             if(capt_cg > CONSTANTE && capt_cd > CONSTANTE)
+             {
+                suivi = ligne;
+             } 
+             break;
+       case arret:
+       
+            timer.stop();
+            ihm.LCD_gotoxy(1,7);
+            ihm.LCD_printf("%.2fsec",timer.read());
+              
+            pwmg.write(0);
+            pwmd.write(0);
+            
+            if (Jack==1)
+            {
+                wait(0.2);
+                while(Jack==1);
+                course();
+            } 
+            break;
+               
+    }
+    
+    if (BP==1)
+            suivi=arret;
+}
+/*---------------------------------------------------------------------------------------*/
+
+void raccourci(void)
+{
+    typedef enum {ligne, sortieD, attente, sortieG,raccour} type_suivi ;
+    static type_suivi suivi = ligne ;
+    
+      BusSelectMux = Ana1;//centre gauche
+      wait_us(1);
+      capt_cg=AnaIn.read();
+
+      BusSelectMux = Ana2;//centre droit
+      wait_us(1);
+      capt_cd=AnaIn.read();
+
+      BusSelectMux = Ana0;//gauche
+      wait_us(1);
+      capt_eg=AnaIn.read();
+
+      BusSelectMux = Ana5;//droite
+      wait_us(1);
+      capt_ed=AnaIn.read();
+
+      BusSelectMux = Ana4;//raccourci
+      wait_us(1);
+      capt_rac=AnaIn.read();
+            
+      BusSelectMux = Vpot;//potentiometre
+      wait_us(1);
+      vpot=AnaIn.read();
+    
+    
+    switch(suivi)
+    {
+        case ligne:
+                    pwmg.write(0.257);
+                    pwmd.write(0.25); 
+                   
+                  
+                if(capt_cg < CONSTANTE && capt_cd > CONSTANTE)
+                {
+                    suivi = sortieG;
+                }  
+                if(capt_cg > CONSTANTE && capt_cd < CONSTANTE)
+             {
+                suivi = sortieD;
+             }
+                break;   
+        
+    case sortieD: //correction sortie droite
+                    pwmg.write(0.15);
+                    pwmd.write(0.25);
+                    
+                    if(capt_cg > CONSTANTE && capt_cd >CONSTANTE)
+                    {
+                    suivi = ligne;
+                    }        
+                    
+                  break;
+                    
+     case sortieG: //correction sortie gauche
+                pwmg.write(0.25);
+                pwmd.write(0.15);  
+             
+             if(capt_cg > CONSTANTE && capt_cd > CONSTANTE)
+             {
+                suivi = ligne;
+             }
+            
+               break;
+     
+     case attente: //correction sortie gauche
+                pwmg.write(0.257);
+                pwmd.write(0.25); 
+                 
+             
+             if(capt_rac > CONSTANTE )
+             {
+                suivi = raccour;
+             }
+            
+               break;
+     
+     case raccour: //correction sortie gauche
+                    while(capt_ed<CONSTANTE)
+                        {
+                            pwmg.write(0.01);
+                            pwmd.write(0.2);
+                        } 
+                         suivi = ligne;
+                         rar++;
+
+               break; 
+        if(capt_rac>0.8)
+        {suivi =attente;} 
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Jan 23 18:40:02 2019 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed/builds/a330f0fddbec
\ No newline at end of file