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@9:7f62c0329849, 2017-05-31 (annotated)
- Committer:
- syasya
- Date:
- Wed May 31 16:30:10 2017 +0000
- Revision:
- 9:7f62c0329849
- Parent:
- 7:64bfecbb3000
- Child:
- 10:1a69a6f659bd
suive du bord probleme timer et contournement
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" |
syasya | 9:7f62c0329849 | 4 | void en_avant() |
syasya | 9:7f62c0329849 | 5 | { |
syasya | 9:7f62c0329849 | 6 | sensMG.write(0); |
syasya | 9:7f62c0329849 | 7 | sensMD.write(0); |
syasya | 9:7f62c0329849 | 8 | cmdD=35; |
syasya | 9:7f62c0329849 | 9 | cmdG=35; |
syasya | 9:7f62c0329849 | 10 | MD.pulsewidth(vitesse(cmdD)); |
syasya | 9:7f62c0329849 | 11 | MG.pulsewidth(vitesse(cmdG)); |
syasya | 9:7f62c0329849 | 12 | } |
vermaelen | 3:b91371837109 | 13 | void contournement() |
vermaelen | 3:b91371837109 | 14 | { |
vermaelen | 3:b91371837109 | 15 | sensMG.write(0); |
vermaelen | 3:b91371837109 | 16 | sensMD.write(0); |
vermaelen | 4:78a9354fcee8 | 17 | cmdD=35; |
vermaelen | 4:78a9354fcee8 | 18 | cmdG=15; |
vermaelen | 3:b91371837109 | 19 | MD.pulsewidth(vitesse(cmdD)); |
vermaelen | 3:b91371837109 | 20 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 3:b91371837109 | 21 | |
vermaelen | 3:b91371837109 | 22 | } |
syasya | 7:64bfecbb3000 | 23 | void rotation_horaire() |
syasya | 7:64bfecbb3000 | 24 | { |
syasya | 7:64bfecbb3000 | 25 | sensMG.write(0); |
syasya | 7:64bfecbb3000 | 26 | sensMD.write(1); |
syasya | 7:64bfecbb3000 | 27 | cmdD=30; |
syasya | 7:64bfecbb3000 | 28 | cmdG=30; |
syasya | 7:64bfecbb3000 | 29 | MD.pulsewidth(vitesse(cmdD)); |
syasya | 7:64bfecbb3000 | 30 | MG.pulsewidth(vitesse(cmdG)); |
syasya | 7:64bfecbb3000 | 31 | } |
syasya | 7:64bfecbb3000 | 32 | void stop() |
vermaelen | 2:82b72fa8dbcd | 33 | { |
vermaelen | 2:82b72fa8dbcd | 34 | sensMG.write(0); |
vermaelen | 2:82b72fa8dbcd | 35 | sensMD.write(0); |
syasya | 7:64bfecbb3000 | 36 | cmdD=0; |
syasya | 7:64bfecbb3000 | 37 | cmdG=0; |
syasya | 7:64bfecbb3000 | 38 | MD.pulsewidth(vitesse(cmdD)); |
syasya | 7:64bfecbb3000 | 39 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 2:82b72fa8dbcd | 40 | } |
vermaelen | 2:82b72fa8dbcd | 41 | void suivi_mur() |
vermaelen | 2:82b72fa8dbcd | 42 | { |
vermaelen | 3:b91371837109 | 43 | E1=E0; |
vermaelen | 3:b91371837109 | 44 | E0=US2-US1; |
vermaelen | 5:3746060957fb | 45 | if((E0+E1)>0) { |
syasya | 7:64bfecbb3000 | 46 | cmdD=VMAX; |
syasya | 7:64bfecbb3000 | 47 | cmdG=VMAX-Kp_ecart*(E0+E1)-Kp_dist*(US2-45); |
vermaelen | 5:3746060957fb | 48 | } else { |
syasya | 7:64bfecbb3000 | 49 | cmdD=VMAX+Kp_ecart*(E0+E1)+Kp_dist*(US2-45); |
syasya | 7:64bfecbb3000 | 50 | cmdG=VMAX; |
vermaelen | 5:3746060957fb | 51 | } |
vermaelen | 3:b91371837109 | 52 | |
vermaelen | 2:82b72fa8dbcd | 53 | MD.pulsewidth(vitesse(cmdD)); |
vermaelen | 2:82b72fa8dbcd | 54 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 3:b91371837109 | 55 | |
vermaelen | 3:b91371837109 | 56 | wait(0.001); |
syasya | 7:64bfecbb3000 | 57 | |
vermaelen | 2:82b72fa8dbcd | 58 | } |
vermaelen | 2:82b72fa8dbcd | 59 | void init() |
vermaelen | 2:82b72fa8dbcd | 60 | { |
vermaelen | 2:82b72fa8dbcd | 61 | sensMG.write(0); |
vermaelen | 2:82b72fa8dbcd | 62 | sensMD.write(0); |
vermaelen | 2:82b72fa8dbcd | 63 | MG.period(PERIOD); |
vermaelen | 2:82b72fa8dbcd | 64 | MD.period(PERIOD); |
vermaelen | 2:82b72fa8dbcd | 65 | MG.pulsewidth(vitesse(0)); |
vermaelen | 2:82b72fa8dbcd | 66 | MD.pulsewidth(vitesse(0)); |
vermaelen | 3:b91371837109 | 67 | tic1.attach(&fcttrig,0.035); |
vermaelen | 2:82b72fa8dbcd | 68 | tic2.attach(&mesAN,0.01); |
syasya | 7:64bfecbb3000 | 69 | echo.rise(&start_trig); |
syasya | 7:64bfecbb3000 | 70 | echo.fall(&stop_trig); |
syasya | 9:7f62c0329849 | 71 | wait(0.1); |
syasya | 7:64bfecbb3000 | 72 | bearing_set=boussole.readBearing()/10.0; |
syasya | 9:7f62c0329849 | 73 | wait(0.1); |
vermaelen | 2:82b72fa8dbcd | 74 | } |
vermaelen | 2:82b72fa8dbcd | 75 | void mesAN() |
vermaelen | 2:82b72fa8dbcd | 76 | { |
vermaelen | 2:82b72fa8dbcd | 77 | if(flag4==0) { |
vermaelen | 2:82b72fa8dbcd | 78 | AN1_av=AN1; |
vermaelen | 2:82b72fa8dbcd | 79 | } |
vermaelen | 2:82b72fa8dbcd | 80 | AN1=0.82*a/(3.3*AnaG.read()-b); |
vermaelen | 3:b91371837109 | 81 | if(((AN1-AN1_av)>40)||((AN1-AN1_av)<-40)) { |
vermaelen | 2:82b72fa8dbcd | 82 | float temp=AN1; |
vermaelen | 2:82b72fa8dbcd | 83 | AN1=AN1_av; |
vermaelen | 2:82b72fa8dbcd | 84 | AN1_av=temp; |
vermaelen | 2:82b72fa8dbcd | 85 | flag4=1; |
vermaelen | 2:82b72fa8dbcd | 86 | } else { |
vermaelen | 2:82b72fa8dbcd | 87 | flag4=0; |
vermaelen | 2:82b72fa8dbcd | 88 | } |
vermaelen | 2:82b72fa8dbcd | 89 | if(AN1<0||AN1>150)AN1=150; |
vermaelen | 2:82b72fa8dbcd | 90 | |
vermaelen | 2:82b72fa8dbcd | 91 | |
vermaelen | 2:82b72fa8dbcd | 92 | if(flag5==0) { |
vermaelen | 2:82b72fa8dbcd | 93 | AN2_av=AN2; |
vermaelen | 2:82b72fa8dbcd | 94 | } |
vermaelen | 2:82b72fa8dbcd | 95 | AN2=0.82*a/(3.3*AnaAV.read()-b); |
vermaelen | 2:82b72fa8dbcd | 96 | |
vermaelen | 3:b91371837109 | 97 | if(((AN2-AN2_av)>40)||((AN2-AN2_av)<-40)) { |
vermaelen | 2:82b72fa8dbcd | 98 | float temp=AN2; |
vermaelen | 2:82b72fa8dbcd | 99 | AN2=AN2_av; |
vermaelen | 2:82b72fa8dbcd | 100 | AN2_av=temp; |
vermaelen | 2:82b72fa8dbcd | 101 | flag5=1; |
vermaelen | 2:82b72fa8dbcd | 102 | } else { |
vermaelen | 2:82b72fa8dbcd | 103 | flag5=0; |
vermaelen | 2:82b72fa8dbcd | 104 | } |
vermaelen | 2:82b72fa8dbcd | 105 | if(AN2<0||AN2>150)AN2=150; |
vermaelen | 2:82b72fa8dbcd | 106 | } |
vermaelen | 2:82b72fa8dbcd | 107 | |
vermaelen | 2:82b72fa8dbcd | 108 | void fcttrig() |
vermaelen | 2:82b72fa8dbcd | 109 | { |
vermaelen | 2:82b72fa8dbcd | 110 | switch(drap) { |
vermaelen | 2:82b72fa8dbcd | 111 | case 1 : |
vermaelen | 2:82b72fa8dbcd | 112 | trigger2.write(1); |
vermaelen | 2:82b72fa8dbcd | 113 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 114 | trigger2.write(0); |
vermaelen | 2:82b72fa8dbcd | 115 | drap=2; |
vermaelen | 2:82b72fa8dbcd | 116 | break; |
vermaelen | 2:82b72fa8dbcd | 117 | case 2 : |
vermaelen | 2:82b72fa8dbcd | 118 | trigger3.write(1); |
vermaelen | 2:82b72fa8dbcd | 119 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 120 | trigger3.write(0); |
vermaelen | 2:82b72fa8dbcd | 121 | drap=3; |
vermaelen | 2:82b72fa8dbcd | 122 | break; |
vermaelen | 2:82b72fa8dbcd | 123 | case 3 : |
vermaelen | 2:82b72fa8dbcd | 124 | trigger1.write(1); |
vermaelen | 2:82b72fa8dbcd | 125 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 126 | trigger1.write(0); |
vermaelen | 2:82b72fa8dbcd | 127 | drap=1; |
vermaelen | 2:82b72fa8dbcd | 128 | break; |
vermaelen | 2:82b72fa8dbcd | 129 | } |
vermaelen | 2:82b72fa8dbcd | 130 | |
vermaelen | 2:82b72fa8dbcd | 131 | } |
syasya | 7:64bfecbb3000 | 132 | void start_trig() |
vermaelen | 2:82b72fa8dbcd | 133 | { |
vermaelen | 2:82b72fa8dbcd | 134 | temp.reset(); |
vermaelen | 2:82b72fa8dbcd | 135 | temp.start(); |
vermaelen | 2:82b72fa8dbcd | 136 | } |
syasya | 7:64bfecbb3000 | 137 | void stop_trig() |
vermaelen | 2:82b72fa8dbcd | 138 | { |
vermaelen | 2:82b72fa8dbcd | 139 | temp.stop(); |
vermaelen | 2:82b72fa8dbcd | 140 | switch(drap) { |
vermaelen | 2:82b72fa8dbcd | 141 | case 1 : |
vermaelen | 2:82b72fa8dbcd | 142 | if(flag3==0) { |
vermaelen | 2:82b72fa8dbcd | 143 | US3_av=US3; |
vermaelen | 2:82b72fa8dbcd | 144 | } |
vermaelen | 2:82b72fa8dbcd | 145 | US3=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 146 | if(((US3-US3_av)>50)||((US3-US3_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 147 | float temp=US3; |
vermaelen | 2:82b72fa8dbcd | 148 | US3=US3_av; |
vermaelen | 2:82b72fa8dbcd | 149 | US3_av=temp; |
vermaelen | 2:82b72fa8dbcd | 150 | flag3=1; |
vermaelen | 2:82b72fa8dbcd | 151 | } else { |
vermaelen | 2:82b72fa8dbcd | 152 | flag3=0; |
vermaelen | 2:82b72fa8dbcd | 153 | } |
vermaelen | 2:82b72fa8dbcd | 154 | if(US3<0||US3>150)US3=150; |
vermaelen | 2:82b72fa8dbcd | 155 | break; |
vermaelen | 2:82b72fa8dbcd | 156 | case 2 : |
vermaelen | 2:82b72fa8dbcd | 157 | if(flag2==0) { |
vermaelen | 2:82b72fa8dbcd | 158 | US2_av=US2; |
vermaelen | 2:82b72fa8dbcd | 159 | } |
vermaelen | 2:82b72fa8dbcd | 160 | US2=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 161 | if(((US2-US2_av)>50)||((US2-US2_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 162 | float temp=US2; |
vermaelen | 2:82b72fa8dbcd | 163 | US2=US2_av; |
vermaelen | 2:82b72fa8dbcd | 164 | US2_av=temp; |
vermaelen | 2:82b72fa8dbcd | 165 | flag2=1; |
vermaelen | 2:82b72fa8dbcd | 166 | } else { |
vermaelen | 2:82b72fa8dbcd | 167 | flag2=0; |
vermaelen | 2:82b72fa8dbcd | 168 | } |
vermaelen | 2:82b72fa8dbcd | 169 | if(US2<0||US2>150)US2=150; |
vermaelen | 2:82b72fa8dbcd | 170 | break; |
vermaelen | 2:82b72fa8dbcd | 171 | case 3 : |
vermaelen | 2:82b72fa8dbcd | 172 | if(flag1==0) { |
vermaelen | 2:82b72fa8dbcd | 173 | US1_av=US1; |
vermaelen | 2:82b72fa8dbcd | 174 | } |
vermaelen | 2:82b72fa8dbcd | 175 | US1=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 176 | if(((US1-US1_av)>50)||((US1-US1_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 177 | float temp=US1; |
vermaelen | 2:82b72fa8dbcd | 178 | US1=US1_av; |
vermaelen | 2:82b72fa8dbcd | 179 | US1_av=temp; |
vermaelen | 2:82b72fa8dbcd | 180 | flag1=1; |
vermaelen | 2:82b72fa8dbcd | 181 | } else { |
vermaelen | 2:82b72fa8dbcd | 182 | flag1=0; |
vermaelen | 2:82b72fa8dbcd | 183 | } |
vermaelen | 2:82b72fa8dbcd | 184 | if(US1<0||US1>150)US1=150; |
vermaelen | 2:82b72fa8dbcd | 185 | break; |
vermaelen | 2:82b72fa8dbcd | 186 | } |
vermaelen | 2:82b72fa8dbcd | 187 | } |
vermaelen | 2:82b72fa8dbcd | 188 | float vitesse(float vit) |
vermaelen | 2:82b72fa8dbcd | 189 | { |
vermaelen | 2:82b72fa8dbcd | 190 | if(vit<0) vit=0; |
syasya | 7:64bfecbb3000 | 191 | if(vit>VLIMIT) vit=VLIMIT; |
vermaelen | 2:82b72fa8dbcd | 192 | return ((vit/100.0)*PERIOD); |
vermaelen | 2:82b72fa8dbcd | 193 | } |