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@7:64bfecbb3000, 2017-05-31 (annotated)

Committer:
syasya
Date:
Wed May 31 12:17:59 2017 +0000
Revision:
7:64bfecbb3000
Parent:
6:5f7df5c74a77
Child:
8:72d684a69957
Child:
9:7f62c0329849
with bearing;

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);
syasya 7:64bfecbb3000 14 //printf("set=%.1f CAP=%.1f\n\r",bearing_set,bearing);
syasya 7:64bfecbb3000 15 //wait(0.1);
syasya 7:64bfecbb3000 16
syasya 7:64bfecbb3000 17 bearing=boussole.readBearing()/10.0;
syasya 7:64bfecbb3000 18 t3.reset();
syasya 7:64bfecbb3000 19 t3.start();
vermaelen 3:b91371837109 20 ledsetat.write(etat);
vermaelen 2:82b72fa8dbcd 21 switch(etat) {
vermaelen 2:82b72fa8dbcd 22 case 0 :
syasya 7:64bfecbb3000 23 if(t3.read()>4) {
syasya 7:64bfecbb3000 24 etat=1;
syasya 7:64bfecbb3000 25 t3.reset();
syasya 7:64bfecbb3000 26 stop();
syasya 7:64bfecbb3000 27 }
vermaelen 3:b91371837109 28 if((AN2>10 && AN2<20) || US3<13) {
vermaelen 2:82b72fa8dbcd 29 etat=1;
syasya 7:64bfecbb3000 30 stop();
vermaelen 2:82b72fa8dbcd 31 }
vermaelen 3:b91371837109 32 if(US2>100 && US1<40) {
vermaelen 3:b91371837109 33 etat=2;
syasya 7:64bfecbb3000 34 stop();
vermaelen 3:b91371837109 35 }
vermaelen 2:82b72fa8dbcd 36 break;
vermaelen 2:82b72fa8dbcd 37 case 1 :
vermaelen 4:78a9354fcee8 38 if(US2>100 && US1<40) {
vermaelen 4:78a9354fcee8 39 etat=2;
syasya 7:64bfecbb3000 40 stop();
vermaelen 4:78a9354fcee8 41 }
vermaelen 2:82b72fa8dbcd 42 if(AN2>30) {
vermaelen 2:82b72fa8dbcd 43 etat=0;
vermaelen 3:b91371837109 44 t2.start();
vermaelen 3:b91371837109 45 t2.reset();
syasya 7:64bfecbb3000 46 stop();
vermaelen 2:82b72fa8dbcd 47 }
syasya 7:64bfecbb3000 48 if(bearing>(bearing-90.0)) {
syasya 7:64bfecbb3000 49 etat=0;
syasya 7:64bfecbb3000 50 stop();
syasya 7:64bfecbb3000 51 }
vermaelen 2:82b72fa8dbcd 52 break;
vermaelen 3:b91371837109 53 case 2 :
vermaelen 3:b91371837109 54 if((AN2>10 && AN2<20) || US3<13) {
vermaelen 3:b91371837109 55 etat=1;
syasya 7:64bfecbb3000 56 stop();
vermaelen 3:b91371837109 57 }
vermaelen 6:5f7df5c74a77 58 if(t2.read()>2.5) {
vermaelen 3:b91371837109 59 etat=0;
vermaelen 3:b91371837109 60 }
vermaelen 3:b91371837109 61 break;
syasya 7:64bfecbb3000 62
vermaelen 2:82b72fa8dbcd 63 }
vermaelen 2:82b72fa8dbcd 64 switch(etat) {
vermaelen 2:82b72fa8dbcd 65 case 0 :
vermaelen 2:82b72fa8dbcd 66 suivi_mur();
vermaelen 2:82b72fa8dbcd 67 break;
vermaelen 2:82b72fa8dbcd 68 case 1 :
vermaelen 2:82b72fa8dbcd 69 rotation_horaire();
vermaelen 2:82b72fa8dbcd 70 break;
vermaelen 3:b91371837109 71 case 2 :
vermaelen 3:b91371837109 72 contournement();
vermaelen 3:b91371837109 73 break;
vermaelen 2:82b72fa8dbcd 74 }
vermaelen 1:714fd6b732be 75
vermaelen 0:dcb865a03d57 76 }
vermaelen 0:dcb865a03d57 77 }