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CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
fct.cpp@3:b91371837109, 2017-05-29 (annotated)
- Committer:
- vermaelen
- Date:
- Mon May 29 12:01:43 2017 +0000
- Revision:
- 3:b91371837109
- Parent:
- 2:82b72fa8dbcd
- Child:
- 4:78a9354fcee8
suivi avec etat de 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" |
vermaelen | 3:b91371837109 | 3 | void contournement() |
vermaelen | 3:b91371837109 | 4 | { |
vermaelen | 3:b91371837109 | 5 | sensMG.write(0); |
vermaelen | 3:b91371837109 | 6 | sensMD.write(0); |
vermaelen | 3:b91371837109 | 7 | cmdD=30; |
vermaelen | 3:b91371837109 | 8 | cmdG=10; |
vermaelen | 3:b91371837109 | 9 | MD.pulsewidth(vitesse(cmdD)); |
vermaelen | 3:b91371837109 | 10 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 3:b91371837109 | 11 | |
vermaelen | 3:b91371837109 | 12 | } |
vermaelen | 2:82b72fa8dbcd | 13 | void stopMotor() |
vermaelen | 2:82b72fa8dbcd | 14 | { |
vermaelen | 2:82b72fa8dbcd | 15 | sensMG.write(0); |
vermaelen | 2:82b72fa8dbcd | 16 | sensMD.write(0); |
vermaelen | 2:82b72fa8dbcd | 17 | MG.pulsewidth(vitesse(0)); |
vermaelen | 2:82b72fa8dbcd | 18 | MD.pulsewidth(vitesse(0)); |
vermaelen | 2:82b72fa8dbcd | 19 | } |
vermaelen | 2:82b72fa8dbcd | 20 | void suivi_mur() |
vermaelen | 2:82b72fa8dbcd | 21 | { |
vermaelen | 3:b91371837109 | 22 | E3=E2; |
vermaelen | 3:b91371837109 | 23 | E2=E1; |
vermaelen | 3:b91371837109 | 24 | E1=E0; |
vermaelen | 3:b91371837109 | 25 | E0=US2-US1; |
vermaelen | 3:b91371837109 | 26 | cmdD=VMOY+Kp_ecart*(E0+E1)+Kp_dist*(US2-20); |
vermaelen | 3:b91371837109 | 27 | cmdG=VMOY-Kp_ecart*(E0+E1)-Kp_dist*(US2-20); |
vermaelen | 3:b91371837109 | 28 | |
vermaelen | 2:82b72fa8dbcd | 29 | MD.pulsewidth(vitesse(cmdD)); |
vermaelen | 2:82b72fa8dbcd | 30 | MG.pulsewidth(vitesse(cmdG)); |
vermaelen | 3:b91371837109 | 31 | |
vermaelen | 3:b91371837109 | 32 | wait(0.001); |
vermaelen | 2:82b72fa8dbcd | 33 | } |
vermaelen | 2:82b72fa8dbcd | 34 | void rotation_horaire() |
vermaelen | 2:82b72fa8dbcd | 35 | { |
vermaelen | 2:82b72fa8dbcd | 36 | sensMG.write(0); |
vermaelen | 2:82b72fa8dbcd | 37 | sensMD.write(1); |
vermaelen | 2:82b72fa8dbcd | 38 | MG.pulsewidth(vitesse(20)); |
vermaelen | 2:82b72fa8dbcd | 39 | MD.pulsewidth(vitesse(20)); |
vermaelen | 2:82b72fa8dbcd | 40 | } |
vermaelen | 2:82b72fa8dbcd | 41 | void init() |
vermaelen | 2:82b72fa8dbcd | 42 | { |
vermaelen | 2:82b72fa8dbcd | 43 | sensMG.write(0); |
vermaelen | 2:82b72fa8dbcd | 44 | sensMD.write(0); |
vermaelen | 2:82b72fa8dbcd | 45 | MG.period(PERIOD); |
vermaelen | 2:82b72fa8dbcd | 46 | MD.period(PERIOD); |
vermaelen | 2:82b72fa8dbcd | 47 | MG.pulsewidth(vitesse(0)); |
vermaelen | 2:82b72fa8dbcd | 48 | MD.pulsewidth(vitesse(0)); |
vermaelen | 3:b91371837109 | 49 | tic1.attach(&fcttrig,0.035); |
vermaelen | 2:82b72fa8dbcd | 50 | tic2.attach(&mesAN,0.01); |
vermaelen | 2:82b72fa8dbcd | 51 | echo.rise(&start); |
vermaelen | 2:82b72fa8dbcd | 52 | echo.fall(&stop); |
vermaelen | 2:82b72fa8dbcd | 53 | } |
vermaelen | 2:82b72fa8dbcd | 54 | void mesAN() |
vermaelen | 2:82b72fa8dbcd | 55 | { |
vermaelen | 2:82b72fa8dbcd | 56 | if(flag4==0) { |
vermaelen | 2:82b72fa8dbcd | 57 | AN1_av=AN1; |
vermaelen | 2:82b72fa8dbcd | 58 | } |
vermaelen | 2:82b72fa8dbcd | 59 | AN1=0.82*a/(3.3*AnaG.read()-b); |
vermaelen | 3:b91371837109 | 60 | if(((AN1-AN1_av)>40)||((AN1-AN1_av)<-40)) { |
vermaelen | 2:82b72fa8dbcd | 61 | float temp=AN1; |
vermaelen | 2:82b72fa8dbcd | 62 | AN1=AN1_av; |
vermaelen | 2:82b72fa8dbcd | 63 | AN1_av=temp; |
vermaelen | 2:82b72fa8dbcd | 64 | flag4=1; |
vermaelen | 2:82b72fa8dbcd | 65 | } else { |
vermaelen | 2:82b72fa8dbcd | 66 | flag4=0; |
vermaelen | 2:82b72fa8dbcd | 67 | } |
vermaelen | 2:82b72fa8dbcd | 68 | if(AN1<0||AN1>150)AN1=150; |
vermaelen | 2:82b72fa8dbcd | 69 | |
vermaelen | 2:82b72fa8dbcd | 70 | |
vermaelen | 2:82b72fa8dbcd | 71 | if(flag5==0) { |
vermaelen | 2:82b72fa8dbcd | 72 | AN2_av=AN2; |
vermaelen | 2:82b72fa8dbcd | 73 | } |
vermaelen | 2:82b72fa8dbcd | 74 | AN2=0.82*a/(3.3*AnaAV.read()-b); |
vermaelen | 2:82b72fa8dbcd | 75 | |
vermaelen | 3:b91371837109 | 76 | if(((AN2-AN2_av)>40)||((AN2-AN2_av)<-40)) { |
vermaelen | 2:82b72fa8dbcd | 77 | float temp=AN2; |
vermaelen | 2:82b72fa8dbcd | 78 | AN2=AN2_av; |
vermaelen | 2:82b72fa8dbcd | 79 | AN2_av=temp; |
vermaelen | 2:82b72fa8dbcd | 80 | flag5=1; |
vermaelen | 2:82b72fa8dbcd | 81 | } else { |
vermaelen | 2:82b72fa8dbcd | 82 | flag5=0; |
vermaelen | 2:82b72fa8dbcd | 83 | } |
vermaelen | 2:82b72fa8dbcd | 84 | if(AN2<0||AN2>150)AN2=150; |
vermaelen | 2:82b72fa8dbcd | 85 | } |
vermaelen | 2:82b72fa8dbcd | 86 | |
vermaelen | 2:82b72fa8dbcd | 87 | void fcttrig() |
vermaelen | 2:82b72fa8dbcd | 88 | { |
vermaelen | 2:82b72fa8dbcd | 89 | switch(drap) { |
vermaelen | 2:82b72fa8dbcd | 90 | case 1 : |
vermaelen | 2:82b72fa8dbcd | 91 | trigger2.write(1); |
vermaelen | 2:82b72fa8dbcd | 92 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 93 | trigger2.write(0); |
vermaelen | 2:82b72fa8dbcd | 94 | drap=2; |
vermaelen | 2:82b72fa8dbcd | 95 | break; |
vermaelen | 2:82b72fa8dbcd | 96 | case 2 : |
vermaelen | 2:82b72fa8dbcd | 97 | trigger3.write(1); |
vermaelen | 2:82b72fa8dbcd | 98 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 99 | trigger3.write(0); |
vermaelen | 2:82b72fa8dbcd | 100 | drap=3; |
vermaelen | 2:82b72fa8dbcd | 101 | break; |
vermaelen | 2:82b72fa8dbcd | 102 | case 3 : |
vermaelen | 2:82b72fa8dbcd | 103 | trigger1.write(1); |
vermaelen | 2:82b72fa8dbcd | 104 | wait_us(10); |
vermaelen | 2:82b72fa8dbcd | 105 | trigger1.write(0); |
vermaelen | 2:82b72fa8dbcd | 106 | drap=1; |
vermaelen | 2:82b72fa8dbcd | 107 | break; |
vermaelen | 2:82b72fa8dbcd | 108 | } |
vermaelen | 2:82b72fa8dbcd | 109 | |
vermaelen | 2:82b72fa8dbcd | 110 | } |
vermaelen | 2:82b72fa8dbcd | 111 | void start() |
vermaelen | 2:82b72fa8dbcd | 112 | { |
vermaelen | 2:82b72fa8dbcd | 113 | temp.reset(); |
vermaelen | 2:82b72fa8dbcd | 114 | temp.start(); |
vermaelen | 2:82b72fa8dbcd | 115 | } |
vermaelen | 2:82b72fa8dbcd | 116 | void stop() |
vermaelen | 2:82b72fa8dbcd | 117 | { |
vermaelen | 2:82b72fa8dbcd | 118 | temp.stop(); |
vermaelen | 2:82b72fa8dbcd | 119 | switch(drap) { |
vermaelen | 2:82b72fa8dbcd | 120 | case 1 : |
vermaelen | 2:82b72fa8dbcd | 121 | if(flag3==0) { |
vermaelen | 2:82b72fa8dbcd | 122 | US3_av=US3; |
vermaelen | 2:82b72fa8dbcd | 123 | } |
vermaelen | 2:82b72fa8dbcd | 124 | US3=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 125 | if(((US3-US3_av)>50)||((US3-US3_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 126 | float temp=US3; |
vermaelen | 2:82b72fa8dbcd | 127 | US3=US3_av; |
vermaelen | 2:82b72fa8dbcd | 128 | US3_av=temp; |
vermaelen | 2:82b72fa8dbcd | 129 | flag3=1; |
vermaelen | 2:82b72fa8dbcd | 130 | } else { |
vermaelen | 2:82b72fa8dbcd | 131 | flag3=0; |
vermaelen | 2:82b72fa8dbcd | 132 | } |
vermaelen | 2:82b72fa8dbcd | 133 | if(US3<0||US3>150)US3=150; |
vermaelen | 2:82b72fa8dbcd | 134 | break; |
vermaelen | 2:82b72fa8dbcd | 135 | case 2 : |
vermaelen | 2:82b72fa8dbcd | 136 | if(flag2==0) { |
vermaelen | 2:82b72fa8dbcd | 137 | US2_av=US2; |
vermaelen | 2:82b72fa8dbcd | 138 | } |
vermaelen | 2:82b72fa8dbcd | 139 | US2=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 140 | if(((US2-US2_av)>50)||((US2-US2_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 141 | float temp=US2; |
vermaelen | 2:82b72fa8dbcd | 142 | US2=US2_av; |
vermaelen | 2:82b72fa8dbcd | 143 | US2_av=temp; |
vermaelen | 2:82b72fa8dbcd | 144 | flag2=1; |
vermaelen | 2:82b72fa8dbcd | 145 | } else { |
vermaelen | 2:82b72fa8dbcd | 146 | flag2=0; |
vermaelen | 2:82b72fa8dbcd | 147 | } |
vermaelen | 2:82b72fa8dbcd | 148 | if(US2<0||US2>150)US2=150; |
vermaelen | 2:82b72fa8dbcd | 149 | break; |
vermaelen | 2:82b72fa8dbcd | 150 | case 3 : |
vermaelen | 2:82b72fa8dbcd | 151 | if(flag1==0) { |
vermaelen | 2:82b72fa8dbcd | 152 | US1_av=US1; |
vermaelen | 2:82b72fa8dbcd | 153 | } |
vermaelen | 2:82b72fa8dbcd | 154 | US1=temp.read_us()/58.31; |
vermaelen | 2:82b72fa8dbcd | 155 | if(((US1-US1_av)>50)||((US1-US1_av)<-50)) { |
vermaelen | 2:82b72fa8dbcd | 156 | float temp=US1; |
vermaelen | 2:82b72fa8dbcd | 157 | US1=US1_av; |
vermaelen | 2:82b72fa8dbcd | 158 | US1_av=temp; |
vermaelen | 2:82b72fa8dbcd | 159 | flag1=1; |
vermaelen | 2:82b72fa8dbcd | 160 | } else { |
vermaelen | 2:82b72fa8dbcd | 161 | flag1=0; |
vermaelen | 2:82b72fa8dbcd | 162 | } |
vermaelen | 2:82b72fa8dbcd | 163 | if(US1<0||US1>150)US1=150; |
vermaelen | 2:82b72fa8dbcd | 164 | break; |
vermaelen | 2:82b72fa8dbcd | 165 | } |
vermaelen | 2:82b72fa8dbcd | 166 | } |
vermaelen | 2:82b72fa8dbcd | 167 | float vitesse(float vit) |
vermaelen | 2:82b72fa8dbcd | 168 | { |
vermaelen | 2:82b72fa8dbcd | 169 | if(vit<0) vit=0; |
vermaelen | 2:82b72fa8dbcd | 170 | if(vit>VMAX) vit=VMAX; |
vermaelen | 2:82b72fa8dbcd | 171 | return ((vit/100.0)*PERIOD); |
vermaelen | 2:82b72fa8dbcd | 172 | } |