Diff: main.cpp

Revision:

114:c1f7be27aa5d

Parent:

113:2f8f255e99f2

Child:

115:156b8234f2de

--- a/main.cpp	Tue May 17 22:44:42 2022 +0000
+++ b/main.cpp	Wed May 18 16:12:59 2022 +0000
@@ -7,22 +7,8 @@
 #include "platform/mbed_thread.h"
 #include "protocol.h"
 #include "asservissement.hpp"
-
-//Define PWM
-#define PWM_PROP    D9
-#define PWM_DIR     D10
-
-//Define interrupt Input
-#define SPEED_CAPTOR A4
-
-//Define COEF
-#define DISTANCE_FOR_HALF_TURN 3 * 3.14         //TODO: mettre vrai valeur
-#define CONTROL_RATE 1000.0
-
-//fontion interrupt
-void onRxInterrupt();
-void onSpeedCaptorInterrupt();
-void onTickerAsservissementInterrupt();
+#include "toolbox.hpp"
+#include "main.hpp"
 
 //Declaration PWM outputs
 PwmOut propulsion(PWM_PROP);
@@ -92,9 +78,9 @@
         }
         
         //Write in terminal
-        if (tTerminalWriting.read() > 0.1)
+        if (tTerminalWriting.read() > 0.02)
         {
-            sprintf(terminalOutput, "Vcons = %d, Vmes = %d, PWM = %d\r", (int)commandSpeed, (int)currentSpeed, pulsewidth_propulsion);
+            sprintf(terminalOutput, "Vcons = %d m/s, Vmes = %d mm/s, PWM = %d\n\r", (int)commandSpeed, (int)(currentSpeed*1000), pulsewidth_propulsion);
             serial_port.write(terminalOutput, strlen(terminalOutput));
             tTerminalWriting.reset();
         }
@@ -128,4 +114,7 @@
     //Command car's speed
     pulsewidth_propulsion = PID(commandSpeed - currentSpeed, CONTROL_RATE);
     propulsion.pulsewidth_us(pulsewidth_propulsion);
+    
+    //Open loop (for coef)
+    
 }
\ No newline at end of file