Simon Emarre
/
Nucleo_robot_2ndaire
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Revision 0:f3349776107d, committed 2015-06-02
- Comitter:
- sype
- Date:
- Tue Jun 02 15:12:44 2015 +0000
- Commit message:
- Prout
Changed in this revision
diff -r 000000000000 -r f3349776107d 2nd.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/2nd.cpp Tue Jun 02 15:12:44 2015 +0000
@@ -0,0 +1,199 @@
+#include "mbed.h"
+#include "AX12.h"
+
+#define CR 1 //Continuous rotation
+#define BR_AX12 250000 //Baud Rate des AX12
+#define ARRET 0
+#define AVANT 1
+#define GAUCHE 2
+#define DROITE 3
+#define ARRIERE 4
+#define AVGAUCHE 5
+#define AVDROIT 6
+#define ARDROIT 7
+#define ARGAUCHE 8
+
+Timer t;
+
+AX12 FRONT_RIGHT (PA_9, PA_10, 6, BR_AX12); //Left Rear Motor
+AX12 FRONT_LEFT (PA_9, PA_10, 7, BR_AX12); //Right Rear Motor
+AX12 REAR_RIGHT (PA_9, PA_10, 4, BR_AX12); //Right Front Motor
+AX12 REAR_LEFT (PA_9, PA_10, 1, BR_AX12); //Left Front Motor
+
+Serial blue(PA_11, PA_12);
+//Serial pc(USBTX, USBRX);
+
+DigitalOut led(LED1);
+
+void init(void);
+void test(void);
+void machine_etat(char etat);
+
+float cmd = 0, consigne = 0.9, coef = 0.6, coef_full = 0.6;
+int etat = ARRET;
+
+/***********
+Controle du robot depuis Application Android
+Lettres correspondantes aux fleches :
+haut : z
+bas : x
+droite : d
+gauche : q
+haut gauche : a
+haut droit : e
+bas gauche : w
+bas droit : c
+***********/
+
+int main()
+{
+ init();
+ t.start();
+ //update.attach(&machine_etat,0.01);
+ //test();
+ //FRONT_RIGHT.SetCRSpeed(0.5);
+ blue.printf("GO\r\n");
+ while(1) {
+ while(blue.readable())
+ {
+ char c = blue.getc();
+ if(c=='s')
+ {
+ t.stop();
+ blue.printf("Etat : %d pendant %2.6f secondes\r\n",etat,t.read());
+ etat = ARRET;
+ }
+ else if(c=='z') etat = AVANT;
+ else if(c=='q') etat = GAUCHE;
+ else if(c=='d') etat = DROITE;
+ else if(c=='x') etat = ARRIERE;
+ else if(c=='a')
+ {
+ etat = AVGAUCHE;
+ consigne = 1.0;
+ }
+ else if(c=='e')
+ {
+ etat = AVDROIT;
+ consigne = 1.0;
+ }
+ else if(c=='c')
+ {
+ etat = ARDROIT;
+ consigne = 1.0;
+ }
+ else if(c=='w')
+ {
+ etat = ARGAUCHE;
+ consigne = 1.0;
+ }
+ t.reset();
+ t.start();
+ machine_etat(etat);
+ }
+ wait(0.1);
+ }
+}
+
+void machine_etat(char etat)
+{
+ switch(etat) {
+ case ARRET:
+ FRONT_RIGHT.SetCRSpeed(0);
+ FRONT_LEFT.SetCRSpeed(0);
+ REAR_RIGHT.SetCRSpeed(0);
+ REAR_LEFT.SetCRSpeed(0);
+ break;
+
+ case AVANT:
+ FRONT_RIGHT.SetCRSpeed(-consigne);
+ FRONT_LEFT.SetCRSpeed(consigne);
+ REAR_RIGHT.SetCRSpeed(-consigne);
+ REAR_LEFT.SetCRSpeed(consigne);
+ break;
+
+ case GAUCHE:
+ FRONT_RIGHT.SetCRSpeed(-coef_full);
+ FRONT_LEFT.SetCRSpeed(-coef_full);
+ REAR_RIGHT.SetCRSpeed(-coef_full);
+ REAR_LEFT.SetCRSpeed(-coef_full);
+ break;
+
+ case DROITE:
+ FRONT_RIGHT.SetCRSpeed(coef);
+ FRONT_LEFT.SetCRSpeed(coef);
+ REAR_RIGHT.SetCRSpeed(coef);
+ REAR_LEFT.SetCRSpeed(coef);
+ break;
+
+
+ case ARRIERE:
+ FRONT_RIGHT.SetCRSpeed(consigne);
+ FRONT_LEFT.SetCRSpeed(-consigne);
+ REAR_RIGHT.SetCRSpeed(consigne);
+ REAR_LEFT.SetCRSpeed(-consigne);
+ break;
+
+ case AVGAUCHE:
+ FRONT_RIGHT.SetCRSpeed(-consigne);
+ FRONT_LEFT.SetCRSpeed(consigne*coef);
+ REAR_RIGHT.SetCRSpeed(-consigne);
+ REAR_LEFT.SetCRSpeed(consigne*coef);
+ break;
+
+ case AVDROIT:
+ FRONT_RIGHT.SetCRSpeed(-consigne*coef);
+ FRONT_LEFT.SetCRSpeed(consigne);
+ REAR_RIGHT.SetCRSpeed(-consigne*coef);
+ REAR_LEFT.SetCRSpeed(consigne);
+ break;
+
+ case ARDROIT:
+ FRONT_RIGHT.SetCRSpeed(consigne*coef);
+ FRONT_LEFT.SetCRSpeed(-consigne);
+ REAR_RIGHT.SetCRSpeed(consigne*coef);
+ REAR_LEFT.SetCRSpeed(-consigne);
+ break;
+
+
+ case ARGAUCHE:
+ FRONT_RIGHT.SetCRSpeed(consigne);
+ FRONT_LEFT.SetCRSpeed(-consigne*coef);
+ REAR_RIGHT.SetCRSpeed(consigne);
+ REAR_LEFT.SetCRSpeed(-consigne*coef);
+ break;
+
+ default:
+ FRONT_RIGHT.SetCRSpeed(0);
+ FRONT_LEFT.SetCRSpeed(0);
+ REAR_RIGHT.SetCRSpeed(0);
+ REAR_LEFT.SetCRSpeed(0);
+ break;
+ }
+}
+
+void init(void)
+{
+ blue.baud(9600);
+ blue.printf("okay\r\n");
+ FRONT_RIGHT.SetMode(CR);
+ FRONT_LEFT.SetMode(CR);
+}
+
+void test(void)
+{
+ FRONT_RIGHT.SetCRSpeed(consigne);
+ FRONT_LEFT.SetCRSpeed(consigne);
+ REAR_RIGHT.SetCRSpeed(consigne);
+ REAR_LEFT.SetCRSpeed(consigne);
+ wait(1.0);
+ FRONT_RIGHT.SetCRSpeed(1.0);
+ FRONT_LEFT.SetCRSpeed(-1.0);
+ REAR_RIGHT.SetCRSpeed(1.0);
+ REAR_LEFT.SetCRSpeed(-1.0);
+ wait(1.0);
+ FRONT_RIGHT.SetCRSpeed(0);
+ FRONT_LEFT.SetCRSpeed(0);
+ REAR_RIGHT.SetCRSpeed(0);
+ REAR_LEFT.SetCRSpeed(0);
+}
diff -r 000000000000 -r f3349776107d AX12.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/AX12.lib Tue Jun 02 15:12:44 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/sype/code/AX12/#40bc0469fd51
diff -r 000000000000 -r f3349776107d Servo.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Servo.lib Tue Jun 02 15:12:44 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Servo/#36b69a7ced07
diff -r 000000000000 -r f3349776107d mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Tue Jun 02 15:12:44 2015 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/7e07b6fb45cf \ No newline at end of file