kevin eccli / Mbed 2 deprecated Freescale

MAJ BROSSARD

Dependencies:   mbed

main.cpp@3:8f2c0c324296, 2014-10-22 (annotated)

Committer:
singularity
Date:
Wed Oct 22 23:26:41 2014 +0000
Revision:
3:8f2c0c324296
Parent:
0:d837a2e3622c 
tentative convert sint16 -> char

Who changed what in which revision?

UserRevisionLine numberNew contents of line
singularity 0:d837a2e3622c 1 #include "mbed.h"
singularity 0:d837a2e3622c 2
singularity 0:d837a2e3622c 3 DigitalOut gpo(D0);
singularity 0:d837a2e3622c 4 DigitalOut led(LED_RED);
singularity 0:d837a2e3622c 5 Serial xbee(D1,D0);
singularity 0:d837a2e3622c 6 AnalogIn FBA(PTB10); //Feedback moteur A
singularity 0:d837a2e3622c 7 AnalogIn FBB(PTB11); //Feedback moteur B
singularity 0:d837a2e3622c 8 PwmOut moteurA1(PTD1);
singularity 0:d837a2e3622c 9 PwmOut moteurA2(PTD3);
singularity 0:d837a2e3622c 10 PwmOut moteurB1(PTD2);
singularity 0:d837a2e3622c 11 PwmOut moteurB2(PTD0);
singularity 0:d837a2e3622c 12 PwmOut direction(PTC4);
singularity 0:d837a2e3622c 13 char commande[10];
singularity 0:d837a2e3622c 14 int curseur;
singularity 0:d837a2e3622c 15
singularity 0:d837a2e3622c 16
singularity 0:d837a2e3622c 17
singularity 0:d837a2e3622c 18 void setDirection(float dir) {
singularity 0:d837a2e3622c 19 direction.write(dir);
singularity 0:d837a2e3622c 20 }
singularity 0:d837a2e3622c 21
singularity 0:d837a2e3622c 22
singularity 0:d837a2e3622c 23 void setMoteurs(float m1, float m2) {
singularity 0:d837a2e3622c 24 if (m1>0) {
singularity 0:d837a2e3622c 25 moteurA2.write(0);
singularity 0:d837a2e3622c 26 moteurA1.write(m1);
singularity 0:d837a2e3622c 27 }
singularity 0:d837a2e3622c 28 else {
singularity 0:d837a2e3622c 29 moteurA1.write(0);
singularity 0:d837a2e3622c 30 moteurA2.write(-m1);
singularity 0:d837a2e3622c 31 }
singularity 0:d837a2e3622c 32
singularity 0:d837a2e3622c 33 if (m2>0) {
singularity 0:d837a2e3622c 34 moteurB2.write(0);
singularity 0:d837a2e3622c 35 moteurB1.write(m2);
singularity 0:d837a2e3622c 36 }
singularity 0:d837a2e3622c 37 else {
singularity 0:d837a2e3622c 38 moteurB1.write(0);
singularity 0:d837a2e3622c 39 moteurB2.write(-m2);
singularity 0:d837a2e3622c 40 }
singularity 0:d837a2e3622c 41 }
singularity 0:d837a2e3622c 42
singularity 0:d837a2e3622c 43
singularity 0:d837a2e3622c 44
singularity 0:d837a2e3622c 45 void tourneDroite(int angle, PwmOut s) {
singularity 0:d837a2e3622c 46 s.write(s.read() + valeurServo(angle));
singularity 0:d837a2e3622c 47 }
singularity 0:d837a2e3622c 48
singularity 0:d837a2e3622c 49 int pourcentServo(float v) {
singularity 0:d837a2e3622c 50 return v*2000;
singularity 0:d837a2e3622c 51 }
singularity 0:d837a2e3622c 52
singularity 0:d837a2e3622c 53 float valeurServo(int p) {
singularity 0:d837a2e3622c 54 return (float)p/2000;
singularity 0:d837a2e3622c 55 }
singularity 0:d837a2e3622c 56
singularity 0:d837a2e3622c 57
singularity 0:d837a2e3622c 58
singularity 0:d837a2e3622c 59 void commande(int dir, int m1, int m2) {
singularity 0:d837a2e3622c 60 setDirection((float)dir-128.0f)/128.0f);
singularity 0:d837a2e3622c 61 setMoteurs((m-128.0f)/128.0f,(m2-128.0f)/128.0f);
singularity 0:d837a2e3622c 62 }
singularity 0:d837a2e3622c 63
singularity 0:d837a2e3622c 64
singularity 0:d837a2e3622c 65
singularity 0:d837a2e3622c 66 /*
singularity 0:d837a2e3622c 67 void getVar(int idVar) {
singularity 0:d837a2e3622c 68 switch(idVar) {
singularity 0:d837a2e3622c 69 case
singularity 0:d837a2e3622c 70 }
singularity 0:d837a2e3622c 71 }
singularity 0:d837a2e3622c 72 */
singularity 0:d837a2e3622c 73
singularity 0:d837a2e3622c 74 void traiter(char commande[]) {
singularity 0:d837a2e3622c 75 switch(commande[0]) {
singularity 0:d837a2e3622c 76 /*case 'S':
singularity 0:d837a2e3622c 77 setVar(commande[1]);
singularity 0:d837a2e3622c 78 case 'G':
singularity 0:d837a2e3622c 79 xbee.printf(getVar(commande[1]));
singularity 0:d837a2e3622c 80 */
singularity 0:d837a2e3622c 81 case 'C':
singularity 0:d837a2e3622c 82 commande(commande[1],commande[2],commande[3]);
singularity 0:d837a2e3622c 83
singularity 0:d837a2e3622c 84 default:
singularity 0:d837a2e3622c 85 xbee.printf("Commande non valide");
singularity 0:d837a2e3622c 86 }
singularity 0:d837a2e3622c 87 }
singularity 0:d837a2e3622c 88
singularity 0:d837a2e3622c 89 void callback() {
singularity 0:d837a2e3622c 90 char donne = xbee.getc();
singularity 0:d837a2e3622c 91
singularity 0:d837a2e3622c 92 if(donne == '\n') {
singularity 0:d837a2e3622c 93 if(curseur!=0) {
singularity 0:d837a2e3622c 94 commande[curseur] = '\n';
singularity 0:d837a2e3622c 95 traiter(commande);
singularity 0:d837a2e3622c 96 curseur = 0;
singularity 0:d837a2e3622c 97 }
singularity 0:d837a2e3622c 98 } else {
singularity 0:d837a2e3622c 99 commande[curseur] = donne;
singularity 0:d837a2e3622c 100 curseur++;
singularity 0:d837a2e3622c 101 }
singularity 0:d837a2e3622c 102 }
singularity 0:d837a2e3622c 103
singularity 0:d837a2e3622c 104 void init() {
singularity 0:d837a2e3622c 105 curseur = 0;
singularity 0:d837a2e3622c 106 for(int i=0:i<10;i++) {
singularity 0:d837a2e3622c 107 commande[i] = '\n';
singularity 0:d837a2e3622c 108 }
singularity 0:d837a2e3622c 109 moteurA1.period(0.0001f);
singularity 0:d837a2e3622c 110 moteurA2.period(0.0001f);
singularity 0:d837a2e3622c 111 moteurB1.period(0.0001f);
singularity 0:d837a2e3622c 112 moteurA2.period(0.0001f);
singularity 0:d837a2e3622c 113 direction.period(0.014286f);
singularity 0:d837a2e3622c 114 }
singularity 0:d837a2e3622c 115
singularity 0:d837a2e3622c 116 int main()
singularity 0:d837a2e3622c 117 {
singularity 0:d837a2e3622c 118 init();
singularity 0:d837a2e3622c 119 xbee.baud(9600);
singularity 0:d837a2e3622c 120 xbee.printf("Xbee Freescale: Hello...\n");
singularity 0:d837a2e3622c 121 xbee.attach(&callback);
singularity 0:d837a2e3622c 122
singularity 0:d837a2e3622c 123 while (true) {
singularity 0:d837a2e3622c 124 gpo = !gpo; // toggle pin
singularity 0:d837a2e3622c 125 led = !led; // toggle led
singularity 0:d837a2e3622c 126 wait(0.2f);
singularity 0:d837a2e3622c 127 }
singularity 0:d837a2e3622c 128 }