tuan din engku syasya syazwani
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CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
fct.cpp@7:64bfecbb3000, 2017-05-31 (annotated)
- Committer:
- syasya
- Date:
- Wed May 31 12:17:59 2017 +0000
- Revision:
- 7:64bfecbb3000
- Parent:
- 5:3746060957fb
- Child:
- 9:7f62c0329849
with bearing;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vermaelen | 2:82b72fa8dbcd | 1 | #include "mbed.h" |
vermaelen | 2:82b72fa8dbcd | 2 | #include "fct.h" |
syasya | 7:64bfecbb3000 | 3 | #include "CMPS03.h" |
vermaelen | 3:b91371837109 | 4 | void contournement() |
vermaelen | 3:b91371837109 | 5 | { |
vermaelen | 3:b91371837109 | 6 | sensMG.write(0); |
vermaelen | 3:b91371837109 | 7 | sensMD.write(0); |
vermaelen | 4:78a9354fcee8 | 8 | cmdD=35; |
vermaelen | 4:78a9354fcee8 | 9 | cmdG=15; |
vermaelen | 3:b91371837109 | 10 | MD.pulsewidth(vitesse(cmdD)); |
vermaelen | 3:b91371837109 | 11 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 3:b91371837109 | 12 | |
vermaelen | 3:b91371837109 | 13 | } |
syasya | 7:64bfecbb3000 | 14 | void rotation_horaire() |
syasya | 7:64bfecbb3000 | 15 | { |
syasya | 7:64bfecbb3000 | 16 | sensMG.write(0); |
syasya | 7:64bfecbb3000 | 17 | sensMD.write(1); |
syasya | 7:64bfecbb3000 | 18 | cmdD=30; |
syasya | 7:64bfecbb3000 | 19 | cmdG=30; |
syasya | 7:64bfecbb3000 | 20 | MD.pulsewidth(vitesse(cmdD)); |
syasya | 7:64bfecbb3000 | 21 | MG.pulsewidth(vitesse(cmdG)); |
syasya | 7:64bfecbb3000 | 22 | } |
syasya | 7:64bfecbb3000 | 23 | void stop() |
vermaelen | 2:82b72fa8dbcd | 24 | { |
vermaelen | 2:82b72fa8dbcd | 25 | sensMG.write(0); |
vermaelen | 2:82b72fa8dbcd | 26 | sensMD.write(0); |
syasya | 7:64bfecbb3000 | 27 | cmdD=0; |
syasya | 7:64bfecbb3000 | 28 | cmdG=0; |
syasya | 7:64bfecbb3000 | 29 | MD.pulsewidth(vitesse(cmdD)); |
syasya | 7:64bfecbb3000 | 30 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 2:82b72fa8dbcd | 31 | } |
vermaelen | 2:82b72fa8dbcd | 32 | void suivi_mur() |
vermaelen | 2:82b72fa8dbcd | 33 | { |
vermaelen | 3:b91371837109 | 34 | E1=E0; |
vermaelen | 3:b91371837109 | 35 | E0=US2-US1; |
vermaelen | 5:3746060957fb | 36 | if((E0+E1)>0) { |
syasya | 7:64bfecbb3000 | 37 | cmdD=VMAX; |
syasya | 7:64bfecbb3000 | 38 | cmdG=VMAX-Kp_ecart*(E0+E1)-Kp_dist*(US2-45); |
vermaelen | 5:3746060957fb | 39 | } else { |
syasya | 7:64bfecbb3000 | 40 | cmdD=VMAX+Kp_ecart*(E0+E1)+Kp_dist*(US2-45); |
syasya | 7:64bfecbb3000 | 41 | cmdG=VMAX; |
vermaelen | 5:3746060957fb | 42 | } |
vermaelen | 3:b91371837109 | 43 | |
vermaelen | 2:82b72fa8dbcd | 44 | MD.pulsewidth(vitesse(cmdD)); |
vermaelen | 2:82b72fa8dbcd | 45 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 3:b91371837109 | 46 | |
vermaelen | 3:b91371837109 | 47 | wait(0.001); |
syasya | 7:64bfecbb3000 | 48 | |
vermaelen | 2:82b72fa8dbcd | 49 | } |
vermaelen | 2:82b72fa8dbcd | 50 | void init() |
vermaelen | 2:82b72fa8dbcd | 51 | { |
vermaelen | 2:82b72fa8dbcd | 52 | sensMG.write(0); |
vermaelen | 2:82b72fa8dbcd | 53 | sensMD.write(0); |
vermaelen | 2:82b72fa8dbcd | 54 | MG.period(PERIOD); |
vermaelen | 2:82b72fa8dbcd | 55 | MD.period(PERIOD); |
vermaelen | 2:82b72fa8dbcd | 56 | MG.pulsewidth(vitesse(0)); |
vermaelen | 2:82b72fa8dbcd | 57 | MD.pulsewidth(vitesse(0)); |
vermaelen | 3:b91371837109 | 58 | tic1.attach(&fcttrig,0.035); |
vermaelen | 2:82b72fa8dbcd | 59 | tic2.attach(&mesAN,0.01); |
syasya | 7:64bfecbb3000 | 60 | echo.rise(&start_trig); |
syasya | 7:64bfecbb3000 | 61 | echo.fall(&stop_trig); |
syasya | 7:64bfecbb3000 | 62 | bearing_set=boussole.readBearing()/10.0; |
vermaelen | 2:82b72fa8dbcd | 63 | } |
vermaelen | 2:82b72fa8dbcd | 64 | void mesAN() |
vermaelen | 2:82b72fa8dbcd | 65 | { |
vermaelen | 2:82b72fa8dbcd | 66 | if(flag4==0) { |
vermaelen | 2:82b72fa8dbcd | 67 | AN1_av=AN1; |
vermaelen | 2:82b72fa8dbcd | 68 | } |
vermaelen | 2:82b72fa8dbcd | 69 | AN1=0.82*a/(3.3*AnaG.read()-b); |
vermaelen | 3:b91371837109 | 70 | if(((AN1-AN1_av)>40)||((AN1-AN1_av)<-40)) { |
vermaelen | 2:82b72fa8dbcd | 71 | float temp=AN1; |
vermaelen | 2:82b72fa8dbcd | 72 | AN1=AN1_av; |
vermaelen | 2:82b72fa8dbcd | 73 | AN1_av=temp; |
vermaelen | 2:82b72fa8dbcd | 74 | flag4=1; |
vermaelen | 2:82b72fa8dbcd | 75 | } else { |
vermaelen | 2:82b72fa8dbcd | 76 | flag4=0; |
vermaelen | 2:82b72fa8dbcd | 77 | } |
vermaelen | 2:82b72fa8dbcd | 78 | if(AN1<0||AN1>150)AN1=150; |
vermaelen | 2:82b72fa8dbcd | 79 | |
vermaelen | 2:82b72fa8dbcd | 80 | |
vermaelen | 2:82b72fa8dbcd | 81 | if(flag5==0) { |
vermaelen | 2:82b72fa8dbcd | 82 | AN2_av=AN2; |
vermaelen | 2:82b72fa8dbcd | 83 | } |
vermaelen | 2:82b72fa8dbcd | 84 | AN2=0.82*a/(3.3*AnaAV.read()-b); |
vermaelen | 2:82b72fa8dbcd | 85 | |
vermaelen | 3:b91371837109 | 86 | if(((AN2-AN2_av)>40)||((AN2-AN2_av)<-40)) { |
vermaelen | 2:82b72fa8dbcd | 87 | float temp=AN2; |
vermaelen | 2:82b72fa8dbcd | 88 | AN2=AN2_av; |
vermaelen | 2:82b72fa8dbcd | 89 | AN2_av=temp; |
vermaelen | 2:82b72fa8dbcd | 90 | flag5=1; |
vermaelen | 2:82b72fa8dbcd | 91 | } else { |
vermaelen | 2:82b72fa8dbcd | 92 | flag5=0; |
vermaelen | 2:82b72fa8dbcd | 93 | } |
vermaelen | 2:82b72fa8dbcd | 94 | if(AN2<0||AN2>150)AN2=150; |
vermaelen | 2:82b72fa8dbcd | 95 | } |
vermaelen | 2:82b72fa8dbcd | 96 | |
vermaelen | 2:82b72fa8dbcd | 97 | void fcttrig() |
vermaelen | 2:82b72fa8dbcd | 98 | { |
vermaelen | 2:82b72fa8dbcd | 99 | switch(drap) { |
vermaelen | 2:82b72fa8dbcd | 100 | case 1 : |
vermaelen | 2:82b72fa8dbcd | 101 | trigger2.write(1); |
vermaelen | 2:82b72fa8dbcd | 102 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 103 | trigger2.write(0); |
vermaelen | 2:82b72fa8dbcd | 104 | drap=2; |
vermaelen | 2:82b72fa8dbcd | 105 | break; |
vermaelen | 2:82b72fa8dbcd | 106 | case 2 : |
vermaelen | 2:82b72fa8dbcd | 107 | trigger3.write(1); |
vermaelen | 2:82b72fa8dbcd | 108 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 109 | trigger3.write(0); |
vermaelen | 2:82b72fa8dbcd | 110 | drap=3; |
vermaelen | 2:82b72fa8dbcd | 111 | break; |
vermaelen | 2:82b72fa8dbcd | 112 | case 3 : |
vermaelen | 2:82b72fa8dbcd | 113 | trigger1.write(1); |
vermaelen | 2:82b72fa8dbcd | 114 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 115 | trigger1.write(0); |
vermaelen | 2:82b72fa8dbcd | 116 | drap=1; |
vermaelen | 2:82b72fa8dbcd | 117 | break; |
vermaelen | 2:82b72fa8dbcd | 118 | } |
vermaelen | 2:82b72fa8dbcd | 119 | |
vermaelen | 2:82b72fa8dbcd | 120 | } |
syasya | 7:64bfecbb3000 | 121 | void start_trig() |
vermaelen | 2:82b72fa8dbcd | 122 | { |
vermaelen | 2:82b72fa8dbcd | 123 | temp.reset(); |
vermaelen | 2:82b72fa8dbcd | 124 | temp.start(); |
vermaelen | 2:82b72fa8dbcd | 125 | } |
syasya | 7:64bfecbb3000 | 126 | void stop_trig() |
vermaelen | 2:82b72fa8dbcd | 127 | { |
vermaelen | 2:82b72fa8dbcd | 128 | temp.stop(); |
vermaelen | 2:82b72fa8dbcd | 129 | switch(drap) { |
vermaelen | 2:82b72fa8dbcd | 130 | case 1 : |
vermaelen | 2:82b72fa8dbcd | 131 | if(flag3==0) { |
vermaelen | 2:82b72fa8dbcd | 132 | US3_av=US3; |
vermaelen | 2:82b72fa8dbcd | 133 | } |
vermaelen | 2:82b72fa8dbcd | 134 | US3=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 135 | if(((US3-US3_av)>50)||((US3-US3_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 136 | float temp=US3; |
vermaelen | 2:82b72fa8dbcd | 137 | US3=US3_av; |
vermaelen | 2:82b72fa8dbcd | 138 | US3_av=temp; |
vermaelen | 2:82b72fa8dbcd | 139 | flag3=1; |
vermaelen | 2:82b72fa8dbcd | 140 | } else { |
vermaelen | 2:82b72fa8dbcd | 141 | flag3=0; |
vermaelen | 2:82b72fa8dbcd | 142 | } |
vermaelen | 2:82b72fa8dbcd | 143 | if(US3<0||US3>150)US3=150; |
vermaelen | 2:82b72fa8dbcd | 144 | break; |
vermaelen | 2:82b72fa8dbcd | 145 | case 2 : |
vermaelen | 2:82b72fa8dbcd | 146 | if(flag2==0) { |
vermaelen | 2:82b72fa8dbcd | 147 | US2_av=US2; |
vermaelen | 2:82b72fa8dbcd | 148 | } |
vermaelen | 2:82b72fa8dbcd | 149 | US2=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 150 | if(((US2-US2_av)>50)||((US2-US2_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 151 | float temp=US2; |
vermaelen | 2:82b72fa8dbcd | 152 | US2=US2_av; |
vermaelen | 2:82b72fa8dbcd | 153 | US2_av=temp; |
vermaelen | 2:82b72fa8dbcd | 154 | flag2=1; |
vermaelen | 2:82b72fa8dbcd | 155 | } else { |
vermaelen | 2:82b72fa8dbcd | 156 | flag2=0; |
vermaelen | 2:82b72fa8dbcd | 157 | } |
vermaelen | 2:82b72fa8dbcd | 158 | if(US2<0||US2>150)US2=150; |
vermaelen | 2:82b72fa8dbcd | 159 | break; |
vermaelen | 2:82b72fa8dbcd | 160 | case 3 : |
vermaelen | 2:82b72fa8dbcd | 161 | if(flag1==0) { |
vermaelen | 2:82b72fa8dbcd | 162 | US1_av=US1; |
vermaelen | 2:82b72fa8dbcd | 163 | } |
vermaelen | 2:82b72fa8dbcd | 164 | US1=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 165 | if(((US1-US1_av)>50)||((US1-US1_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 166 | float temp=US1; |
vermaelen | 2:82b72fa8dbcd | 167 | US1=US1_av; |
vermaelen | 2:82b72fa8dbcd | 168 | US1_av=temp; |
vermaelen | 2:82b72fa8dbcd | 169 | flag1=1; |
vermaelen | 2:82b72fa8dbcd | 170 | } else { |
vermaelen | 2:82b72fa8dbcd | 171 | flag1=0; |
vermaelen | 2:82b72fa8dbcd | 172 | } |
vermaelen | 2:82b72fa8dbcd | 173 | if(US1<0||US1>150)US1=150; |
vermaelen | 2:82b72fa8dbcd | 174 | break; |
vermaelen | 2:82b72fa8dbcd | 175 | } |
vermaelen | 2:82b72fa8dbcd | 176 | } |
vermaelen | 2:82b72fa8dbcd | 177 | float vitesse(float vit) |
vermaelen | 2:82b72fa8dbcd | 178 | { |
vermaelen | 2:82b72fa8dbcd | 179 | if(vit<0) vit=0; |
syasya | 7:64bfecbb3000 | 180 | if(vit>VLIMIT) vit=VLIMIT; |
vermaelen | 2:82b72fa8dbcd | 181 | return ((vit/100.0)*PERIOD); |
vermaelen | 2:82b72fa8dbcd | 182 | } |