Yannick Andreu
/
Robot_Autonome_Proto
Andreu- Felix
commande.cpp@0:afd478f066b0, 2017-07-03 (annotated)
- Committer:
- yannickrda
- Date:
- Mon Jul 03 10:13:36 2017 +0000
- Revision:
- 0:afd478f066b0
Final!!!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yannickrda | 0:afd478f066b0 | 1 | #include "mbed.h" |
yannickrda | 0:afd478f066b0 | 2 | #include "commande.h" |
yannickrda | 0:afd478f066b0 | 3 | |
yannickrda | 0:afd478f066b0 | 4 | #define adr 128 |
yannickrda | 0:afd478f066b0 | 5 | using namespace std; |
yannickrda | 0:afd478f066b0 | 6 | |
yannickrda | 0:afd478f066b0 | 7 | |
yannickrda | 0:afd478f066b0 | 8 | DigitalOut S2(p11); |
yannickrda | 0:afd478f066b0 | 9 | Serial com_mot(p9,p10); |
yannickrda | 0:afd478f066b0 | 10 | |
yannickrda | 0:afd478f066b0 | 11 | void avancerG(char speed) |
yannickrda | 0:afd478f066b0 | 12 | { |
yannickrda | 0:afd478f066b0 | 13 | com_mot.putc(adr); |
yannickrda | 0:afd478f066b0 | 14 | com_mot.putc(1); |
yannickrda | 0:afd478f066b0 | 15 | com_mot.putc(speed); |
yannickrda | 0:afd478f066b0 | 16 | com_mot.putc((adr + 1 + speed) & 127); //checksum trame envoyée / reçue |
yannickrda | 0:afd478f066b0 | 17 | } |
yannickrda | 0:afd478f066b0 | 18 | void avancerD(char speed) |
yannickrda | 0:afd478f066b0 | 19 | { |
yannickrda | 0:afd478f066b0 | 20 | com_mot.putc(adr); |
yannickrda | 0:afd478f066b0 | 21 | com_mot.putc(4); |
yannickrda | 0:afd478f066b0 | 22 | com_mot.putc(speed); |
yannickrda | 0:afd478f066b0 | 23 | com_mot.putc((adr + 4 + speed) & 127); //checksum trame envoyée / reçue |
yannickrda | 0:afd478f066b0 | 24 | } |
yannickrda | 0:afd478f066b0 | 25 | void reculerG(char speed) |
yannickrda | 0:afd478f066b0 | 26 | { |
yannickrda | 0:afd478f066b0 | 27 | com_mot.putc(adr); |
yannickrda | 0:afd478f066b0 | 28 | com_mot.putc(0); |
yannickrda | 0:afd478f066b0 | 29 | com_mot.putc(speed); |
yannickrda | 0:afd478f066b0 | 30 | com_mot.putc((adr + 0 + speed) & 127); //checksum trame envoyée / reçue |
yannickrda | 0:afd478f066b0 | 31 | } |
yannickrda | 0:afd478f066b0 | 32 | void reculerD(char speed) |
yannickrda | 0:afd478f066b0 | 33 | { |
yannickrda | 0:afd478f066b0 | 34 | com_mot.putc(adr); |
yannickrda | 0:afd478f066b0 | 35 | com_mot.putc(5); |
yannickrda | 0:afd478f066b0 | 36 | com_mot.putc(speed); |
yannickrda | 0:afd478f066b0 | 37 | com_mot.putc((adr + 5 + speed) & 127); //checksum trame envoyée / reçue |
yannickrda | 0:afd478f066b0 | 38 | } |
yannickrda | 0:afd478f066b0 | 39 | //////////////Fonction Finale/////////////// |
yannickrda | 0:afd478f066b0 | 40 | |
yannickrda | 0:afd478f066b0 | 41 | ///////Marche avant//////// |
yannickrda | 0:afd478f066b0 | 42 | void dem(char speed) |
yannickrda | 0:afd478f066b0 | 43 | { |
yannickrda | 0:afd478f066b0 | 44 | int i;speed=speed*0.1; |
yannickrda | 0:afd478f066b0 | 45 | for(i=0;i<100;i++) |
yannickrda | 0:afd478f066b0 | 46 | { |
yannickrda | 0:afd478f066b0 | 47 | avancerG(speed);wait(0.001); |
yannickrda | 0:afd478f066b0 | 48 | avancerD(speed);speed++; |
yannickrda | 0:afd478f066b0 | 49 | wait(0.01); |
yannickrda | 0:afd478f066b0 | 50 | } |
yannickrda | 0:afd478f066b0 | 51 | avancerG(speed);wait(0.001); |
yannickrda | 0:afd478f066b0 | 52 | avancerD(speed); |
yannickrda | 0:afd478f066b0 | 53 | } |
yannickrda | 0:afd478f066b0 | 54 | void commande::avance(char speed) |
yannickrda | 0:afd478f066b0 | 55 | { |
yannickrda | 0:afd478f066b0 | 56 | avancerG(speed);wait(0.001); |
yannickrda | 0:afd478f066b0 | 57 | avancerD(speed); |
yannickrda | 0:afd478f066b0 | 58 | } |
yannickrda | 0:afd478f066b0 | 59 | |
yannickrda | 0:afd478f066b0 | 60 | //////Fonction avancer////// |
yannickrda | 0:afd478f066b0 | 61 | void commande::avancer(char speed) |
yannickrda | 0:afd478f066b0 | 62 | { |
yannickrda | 0:afd478f066b0 | 63 | dem(speed);avance(speed); |
yannickrda | 0:afd478f066b0 | 64 | } |
yannickrda | 0:afd478f066b0 | 65 | //////////Marche arriere////////// |
yannickrda | 0:afd478f066b0 | 66 | void demar(char speed) |
yannickrda | 0:afd478f066b0 | 67 | { |
yannickrda | 0:afd478f066b0 | 68 | int i; |
yannickrda | 0:afd478f066b0 | 69 | speed=speed*0.1; |
yannickrda | 0:afd478f066b0 | 70 | for(i=0;i<100;i++) |
yannickrda | 0:afd478f066b0 | 71 | { |
yannickrda | 0:afd478f066b0 | 72 | reculerG(speed);wait(0.001); |
yannickrda | 0:afd478f066b0 | 73 | reculerD(speed);speed=speed++; |
yannickrda | 0:afd478f066b0 | 74 | wait(0.01); |
yannickrda | 0:afd478f066b0 | 75 | } |
yannickrda | 0:afd478f066b0 | 76 | } |
yannickrda | 0:afd478f066b0 | 77 | void commande::recu(char speed) |
yannickrda | 0:afd478f066b0 | 78 | { |
yannickrda | 0:afd478f066b0 | 79 | reculerG(speed);wait(0.001); |
yannickrda | 0:afd478f066b0 | 80 | reculerD(speed); |
yannickrda | 0:afd478f066b0 | 81 | } |
yannickrda | 0:afd478f066b0 | 82 | //////Fonction reculer////// |
yannickrda | 0:afd478f066b0 | 83 | void commande::reculer(char speed) |
yannickrda | 0:afd478f066b0 | 84 | { |
yannickrda | 0:afd478f066b0 | 85 | demar(speed);recu(speed); |
yannickrda | 0:afd478f066b0 | 86 | } |
yannickrda | 0:afd478f066b0 | 87 | //////virage///////////////// |
yannickrda | 0:afd478f066b0 | 88 | void commande::tourner_droite(char speed) |
yannickrda | 0:afd478f066b0 | 89 | { |
yannickrda | 0:afd478f066b0 | 90 | avancerG(speed);wait(0.001); |
yannickrda | 0:afd478f066b0 | 91 | reculerD(speed); |
yannickrda | 0:afd478f066b0 | 92 | } |
yannickrda | 0:afd478f066b0 | 93 | void commande::tourner_gauche(char speed) |
yannickrda | 0:afd478f066b0 | 94 | { |
yannickrda | 0:afd478f066b0 | 95 | avancerD(speed);wait(0.001); |
yannickrda | 0:afd478f066b0 | 96 | reculerG(speed); |
yannickrda | 0:afd478f066b0 | 97 | } |
yannickrda | 0:afd478f066b0 | 98 | |
yannickrda | 0:afd478f066b0 | 99 | void commande::demi_tour(void) |
yannickrda | 0:afd478f066b0 | 100 | { |
yannickrda | 0:afd478f066b0 | 101 | avancerD(50);wait(0.001); |
yannickrda | 0:afd478f066b0 | 102 | reculerG(50); |
yannickrda | 0:afd478f066b0 | 103 | wait(1.3); |
yannickrda | 0:afd478f066b0 | 104 | avancerD(0);wait(0.001); |
yannickrda | 0:afd478f066b0 | 105 | reculerG(0); |
yannickrda | 0:afd478f066b0 | 106 | } |
yannickrda | 0:afd478f066b0 | 107 | |
yannickrda | 0:afd478f066b0 | 108 | void commande::stop(void) |
yannickrda | 0:afd478f066b0 | 109 | { |
yannickrda | 0:afd478f066b0 | 110 | avancerD(0);wait(0.001); |
yannickrda | 0:afd478f066b0 | 111 | reculerG(0); |
yannickrda | 0:afd478f066b0 | 112 | } |
yannickrda | 0:afd478f066b0 | 113 | //////Fonction arret////// |
yannickrda | 0:afd478f066b0 | 114 | //void arreter(void) |