tuan din engku syasya syazwani / Mbed 2 deprecated CACHAN_D_DAY_2

ROBOTIC COMPETITION PARIS 2017

Dependencies:   CMPS03 mbed

Fork of _test_suivi_mur by christophe vermaelen

main.cpp@8:72d684a69957, 2017-05-31 (annotated)

Committer:
syasya
Date:
Wed May 31 12:22:01 2017 +0000
Revision:
8:72d684a69957
Parent:
7:64bfecbb3000 
OK

Who changed what in which revision?

UserRevisionLine numberNew contents of line
syasya 7:64bfecbb3000 1
vermaelen 2:82b72fa8dbcd 2 #include "fct.h"
syasya 7:64bfecbb3000 3
syasya 7:64bfecbb3000 4
vermaelen 3:b91371837109 5 BusOut ledsetat(p12,p13);
vermaelen 0:dcb865a03d57 6
vermaelen 0:dcb865a03d57 7 int main()
vermaelen 0:dcb865a03d57 8 {
vermaelen 2:82b72fa8dbcd 9 int etat=0;
vermaelen 2:82b72fa8dbcd 10 init();
vermaelen 0:dcb865a03d57 11 while(1) {
syasya 7:64bfecbb3000 12 // printf("etat=%d US1=%.0f US2=%.0f US3=%.0f erreur=%.0f AN1=%.0f AN2=%.0f cmdD=%.0f cmdG=%.0f\n\r",etat,US1,US2,US3,(US2-US1),AN1,AN2,cmdD,cmdG);
vermaelen 2:82b72fa8dbcd 13 //wait(0.05);
vermaelen 3:b91371837109 14 ledsetat.write(etat);
vermaelen 2:82b72fa8dbcd 15 switch(etat) {
vermaelen 2:82b72fa8dbcd 16 case 0 :
vermaelen 3:b91371837109 17 if((AN2>10 && AN2<20) || US3<13) {
vermaelen 2:82b72fa8dbcd 18 etat=1;
syasya 7:64bfecbb3000 19 stop();
vermaelen 2:82b72fa8dbcd 20 }
vermaelen 3:b91371837109 21 if(US2>100 && US1<40) {
vermaelen 3:b91371837109 22 etat=2;
syasya 7:64bfecbb3000 23 stop();
vermaelen 3:b91371837109 24 }
vermaelen 2:82b72fa8dbcd 25 break;
vermaelen 2:82b72fa8dbcd 26 case 1 :
vermaelen 4:78a9354fcee8 27 if(US2>100 && US1<40) {
vermaelen 4:78a9354fcee8 28 etat=2;
syasya 7:64bfecbb3000 29 stop();
vermaelen 4:78a9354fcee8 30 }
vermaelen 2:82b72fa8dbcd 31 if(AN2>30) {
vermaelen 2:82b72fa8dbcd 32 etat=0;
vermaelen 3:b91371837109 33 t2.start();
vermaelen 3:b91371837109 34 t2.reset();
syasya 7:64bfecbb3000 35 stop();
vermaelen 2:82b72fa8dbcd 36 }
vermaelen 2:82b72fa8dbcd 37 break;
vermaelen 3:b91371837109 38 case 2 :
vermaelen 3:b91371837109 39 if((AN2>10 && AN2<20) || US3<13) {
vermaelen 3:b91371837109 40 etat=1;
syasya 7:64bfecbb3000 41 stop();
vermaelen 3:b91371837109 42 }
vermaelen 6:5f7df5c74a77 43 if(t2.read()>2.5) {
vermaelen 3:b91371837109 44 etat=0;
vermaelen 3:b91371837109 45 }
vermaelen 3:b91371837109 46 break;
syasya 7:64bfecbb3000 47
vermaelen 2:82b72fa8dbcd 48 }
vermaelen 2:82b72fa8dbcd 49 switch(etat) {
vermaelen 2:82b72fa8dbcd 50 case 0 :
vermaelen 2:82b72fa8dbcd 51 suivi_mur();
vermaelen 2:82b72fa8dbcd 52 break;
vermaelen 2:82b72fa8dbcd 53 case 1 :
vermaelen 2:82b72fa8dbcd 54 rotation_horaire();
vermaelen 2:82b72fa8dbcd 55 break;
vermaelen 3:b91371837109 56 case 2 :
vermaelen 3:b91371837109 57 contournement();
vermaelen 3:b91371837109 58 break;
vermaelen 2:82b72fa8dbcd 59 }
vermaelen 1:714fd6b732be 60
vermaelen 0:dcb865a03d57 61 }
vermaelen 0:dcb865a03d57 62 }