kevin eccli / Mbed 2 deprecated Freescale_CupV4

Adaptation K22F

Dependencies:   mbed

Propulsion.cpp@0:6004a7230f87, 2014-12-16 (annotated)

Committer:
singularity
Date:
Tue Dec 16 15:52:17 2014 +0000
Revision:
0:6004a7230f87
Creation k22F

Who changed what in which revision?

UserRevisionLine numberNew contents of line
singularity 0:6004a7230f87 1 #include "Propulsion.h"
singularity 0:6004a7230f87 2
singularity 0:6004a7230f87 3 Propulsion::Propulsion() :
singularity 0:6004a7230f87 4 moteurDroit(MOTD1_PIN,MOTD2_PIN,FBD_PIN,MOTD_CAPTEUR1_PIN,MOTD_CAPTEUR2_PIN),
singularity 0:6004a7230f87 5 moteurGauche(MOTG1_PIN,MOTG2_PIN,FBG_PIN,MOTG_CAPTEUR1_PIN,MOTG_CAPTEUR2_PIN)
singularity 0:6004a7230f87 6 {
singularity 0:6004a7230f87 7 //Lors de leurs instanciations les moeturs ont leur puissance initialisée à 0.
singularity 0:6004a7230f87 8 }
singularity 0:6004a7230f87 9
singularity 0:6004a7230f87 10 //IMPLEMENTER LE DIFFERENTIEL ICI
singularity 0:6004a7230f87 11 void Propulsion::setVitesse(float v)
singularity 0:6004a7230f87 12 {
singularity 0:6004a7230f87 13 this->moteurDroit.setVitesse(v);
singularity 0:6004a7230f87 14 this->moteurGauche.setVitesse(v);
singularity 0:6004a7230f87 15 }
singularity 0:6004a7230f87 16
singularity 0:6004a7230f87 17 void Propulsion::testPropulsion1()
singularity 0:6004a7230f87 18 {
singularity 0:6004a7230f87 19 this->moteurDroit.test1();
singularity 0:6004a7230f87 20 this->moteurGauche.test1();
singularity 0:6004a7230f87 21 }
singularity 0:6004a7230f87 22
singularity 0:6004a7230f87 23 void Propulsion::setDKp(float k)
singularity 0:6004a7230f87 24 {
singularity 0:6004a7230f87 25 this->moteurDroit.setKp(k);
singularity 0:6004a7230f87 26 }
singularity 0:6004a7230f87 27
singularity 0:6004a7230f87 28 void Propulsion::setDKi(float k)
singularity 0:6004a7230f87 29 {
singularity 0:6004a7230f87 30 this->moteurDroit.setKi(k);
singularity 0:6004a7230f87 31 }
singularity 0:6004a7230f87 32
singularity 0:6004a7230f87 33 void Propulsion::setDKd(float k)
singularity 0:6004a7230f87 34 {
singularity 0:6004a7230f87 35 this->moteurDroit.setKd(k);
singularity 0:6004a7230f87 36 }
singularity 0:6004a7230f87 37
singularity 0:6004a7230f87 38 void Propulsion::setGKp(float k)
singularity 0:6004a7230f87 39 {
singularity 0:6004a7230f87 40 this->moteurGauche.setKp(k);
singularity 0:6004a7230f87 41 }
singularity 0:6004a7230f87 42
singularity 0:6004a7230f87 43 void Propulsion::setGKi(float k)
singularity 0:6004a7230f87 44 {
singularity 0:6004a7230f87 45 this->moteurGauche.setKi(k);
singularity 0:6004a7230f87 46 }
singularity 0:6004a7230f87 47
singularity 0:6004a7230f87 48 void Propulsion::setGKd(float k)
singularity 0:6004a7230f87 49 {
singularity 0:6004a7230f87 50 this->moteurGauche.setKd(k);
singularity 0:6004a7230f87 51 }
singularity 0:6004a7230f87 52
singularity 0:6004a7230f87 53
singularity 0:6004a7230f87 54 /*
singularity 0:6004a7230f87 55 void Propulsion::testPropulsion2()
singularity 0:6004a7230f87 56 {
singularity 0:6004a7230f87 57 moteurD1.write(1);
singularity 0:6004a7230f87 58 wait(1.0f);
singularity 0:6004a7230f87 59 moteurG1.write(1);
singularity 0:6004a7230f87 60 wait(1.0f);
singularity 0:6004a7230f87 61 setPuissanceMoteurs(0.5,0.5);
singularity 0:6004a7230f87 62 wait(1.0f);
singularity 0:6004a7230f87 63 setPuissanceMoteurs(-0.5,-0.5);
singularity 0:6004a7230f87 64 wait(1.0f);
singularity 0:6004a7230f87 65 setPuissanceMoteurs(0,-0.5);
singularity 0:6004a7230f87 66 wait(1.0f);
singularity 0:6004a7230f87 67 setPuissanceMoteurs(0,0);
singularity 0:6004a7230f87 68 }
singularity 0:6004a7230f87 69 */