kevin eccli / Mbed 2 deprecated Freescale_CupV4

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Dependencies:   mbed

Direction.cpp

Committer:
singularity
Date:
2014-12-16
Revision:
0:6004a7230f87

File content as of revision 0:6004a7230f87:

#include "Direction.h"

//INSTANCIATION DES INSTANCES GLOBALES
PwmOut direction(DIR_PIN);

void initDirection() {
    direction.period(DIR_PERIOD);
    setDirection(128);
}

/*en float : ~0.025 ->     roues braquées a gauche
             ~0.08 ->  roues braquées a droite
  en int : 0 ->    gauche
           256 ->  droite*/
void setDirection(int dir) {
    direction.write(((((float)dir)/256)*0.055f + 0.025f));
}


void testDirection() {
    float vMoteur = 0.0;
    for(int i=0;i<256;i++)
    { 
        setDirection(i);
        xbee.printf("i = %d  ;   direction = %f\n",i,direction.read());
        wait(0.1f);
        vMoteur = (i-128.0f) / 128.0f;
        //setMoteurs(vMoteur,vMoteur);
        xbee.printf("vitesse moteurs : %f\n\n",vMoteur);
    }
}