File content as of revision 1:b3ff77670606:

#include "mbed.h"
#include "AX12.h"
#include "cmsis.h"

                             /*  DECLARATION VARIABLES */
Timer t;
Ticker flipper;
static char TAB1[25]=   {0x06,0x0A, 0x01, 0xFF, 0x00,                          
                         0x12,0xBC, 0x02, 0xFF, 0x00,                          
                         0x04,0xE9, 0x00, 0xFF, 0x00,
                         0x07,0x4D, 0x01, 0xFF, 0x00,
                         0x0F,0x90, 0x01, 0xFF, 0x00};                              

static char TAB2[25]= {0x06,0x0A, 0x01, 0xFF, 0x00,                          
                         0x12,0x25, 0x02, 0xFF, 0x00,                              
                         0x04,0x15, 0x02, 0xFF, 0x00,
                         0x07,0x4D, 0x01, 0xFF, 0x00,
                         0x0F,0x90, 0x01, 0xFF, 0x00};
                         
static char TAB3[25]=   {0x06,0x0A, 0x01, 0xFF, 0x00,                         
                         0x12,0x2C, 0x01, 0xFF, 0x00,                         
                         0x04,0x15, 0x02, 0xFF, 0x00,
                         0x07,0x4D, 0x01, 0xFF, 0x00,
                         0x0F,0x90, 0x01, 0xFF, 0x00}; 
                         
static char TAB4[25]=   {0x06,0x0A, 0x01, 0xFF, 0x00,                         
                         0x12,0x2C, 0x01, 0xFF, 0x00,                         
                         0x04,0x4D, 0x01, 0xFF, 0x00,
                         0x07,0x4D, 0x01, 0xFF, 0x00,
                         0x0F,0x90, 0x01, 0xFF, 0x00};  
                         
static char TAB5[25]=   {0x06,0x0A, 0x01, 0xFF, 0x00,                         
                         0x12,0x2C, 0x01, 0xFF, 0x00,                         
                         0x04,0x4D, 0x01, 0xFF, 0x00,
                         0x07,0x6E, 0x01, 0xFF, 0x00,
                         0x0F,0x90, 0x01, 0xFF, 0x00};        
                                                      

                        
                            /*   ANGLE   */
                            
/*         10° =    0x21, 0x00   |    110°= 0x6E, 0x01    |   210°= 0xBC, 0x02
           20° =    0x42, 0x00   |    120°= 0x90, 0x01    |   220°= 0xDD, 0x02
           30° =    0x64, 0x00   |    130°= 0xB1, 0x01
           40° =    0x85, 0x00   |    140°= 0xD2, 0x01
           50° =    0xA6, 0x00   |    150°= 0xF4, 0x01
           60° =    0xC8, 0x00   |    160°= 0x15, 0x02
           70° =    0xE9, 0x00   |    170°= 0x36, 0x02
           80° =    0x0A, 0x01   |    180°= 0x58, 0x02
           90° =    0x2C, 0x01   |    190°= 0x79, 0x02
           100°=    0x4D, 0x01   |    200°= 0x9A, 0x02                         */                   

                            /*  NUMERO AX12  */
                            
/*         0 =    0x00   |    9  =    0x09  |  18 =   0x12
           1 =    0x01   |    10 =    0x0A 
           2 =    0x02   |    11 =    0x0B
           3 =    0x03   |    12 =    0x0C
           4 =    0x04   |    13 =    0x0D
           5 =    0x05   |    14 =    0x0E
           6 =    0x06   |    15 =    0x0F
           7 =    0x07   |    16 =    0x10
           8 =    0x08   |    17 =    0x11                      */
                                            
    /*static char Tab1[5]={ 0x09,
                          0x5E,
                          0x01,
                          0x70,
                          0x01};*/
    
    /*static char Tab2[5]={ 0x05,
                            0x96,
                            0x01,
                            0x85,
                            0x05};*/
float angle=0.0;
float test_socle=0.0,test_bas=0.0,test_milieu=0.0,test_haut=0.0,test_ventouse=0.0, test_calcul=0.0, valeur_test=0.0;  

                                                                               
                            /* DECLARATION PROTOTYPES & POINTEURS */
                   
short vitesse=700;                                        // Vitesse angulaire (0-1023)  
AX12 *dixhuit_myAX12, *quatre_myAX12,*six_myAX12, *sept_myAX12, *quinze_myAX12, *multiple_AX12;
void Init_AX12(void);
void Lecture(void);
void Flip(void);

    


                  /*              FONCTIONS                */

void Init_AX12()                                           // Initialisation des différents paramétres
{
         
    dixhuit_myAX12-> Set_Goal_speed(vitesse);             // vitesse (0-1023)
    quatre_myAX12-> Set_Goal_speed(vitesse);
    six_myAX12-> Set_Goal_speed(vitesse);
    sept_myAX12-> Set_Goal_speed(vitesse);
    quinze_myAX12-> Set_Goal_speed(vitesse);
    
    dixhuit_myAX12->   Set_Mode(0);                          // Mode Position(0) Mode Continu(1)
    quatre_myAX12-> Set_Mode(0);
    six_myAX12-> Set_Mode(0);
    sept_myAX12-> Set_Mode(0);
    quinze_myAX12-> Set_Mode(0);
}                  
                    
/*void Lecture()
{
    angle= socle_myAX12-> Get_Position();
    test_socle = socle_myAX12 -> read_and_test(angle,TAB);
    
    angle= bas_myAX12-> Get_Position();
    test_bas = bas_myAX12-> read_and_test(angle,TAB);
    
    angle= milieu_myAX12-> Get_Position();
    test_milieu = milieu_myAX12-> read_and_test(angle,TAB);    
     
    angle= haut_myAX12-> Get_Position();
    test_haut = haut_myAX12-> read_and_test(angle,TAB);
     
    angle= ventouse_myAX12-> Get_Position();
    test_ventouse = ventouse_myAX12-> read_and_test(angle,TAB);
    
    valeur_test=test_bas+test_milieu+test_haut+test_socle+test_ventouse;
    
    #ifdef AX12_DEBUG
    printf("\ntest_socle = %f",test_socle);
    #endif
    #ifdef AX12_DEBUG
    printf("\ntest_bas = %f",test_bas);
    #endif
    #ifdef AX12_DEBUG
    printf("\ntest_milieu = %f",test_milieu);
    #endif
    #ifdef AX12_DEBUG
    printf("\ntest_haut = %f",test_haut);
    #endif
    #ifdef AX12_DEBUG
    printf("\ntest_ventouse = %f",test_ventouse);
    #endif
     #ifdef AX12_DEBUG
    printf("\nvaleur_test = %f",valeur_test);
    #endif    
}*/

                           /* PROGRAMME PRINCIPAL*/

int main() 
{
   // flipper.attach(&Flip, 2.0);
    dixhuit_myAX12 = new AX12(p13, p14, 18, 1000000);
    quatre_myAX12 = new AX12(p13, p14, 4, 1000000);
    six_myAX12 = new AX12(p13, p14, 6, 1000000);
    sept_myAX12 = new AX12(p13, p14, 7, 1000000);
    quinze_myAX12 = new AX12(p13, p14, 15, 1000000);
    multiple_AX12    = new AX12(p13,p14,0xFE,1000000);                           // Création objet : data pin 9&10, ID Broadcast,  baud
    
    multiple_AX12->multiple_goal_and_speed(5,TAB1);
    wait(2);
    multiple_AX12->multiple_goal_and_speed(5,TAB2);
    wait(2);
    multiple_AX12->multiple_goal_and_speed(5,TAB3);
    wait(2);
    multiple_AX12->multiple_goal_and_speed(5,TAB4);
    wait(2);
    multiple_AX12->multiple_goal_and_speed(5,TAB5);
    
    
    //six_myAX12 -> Set_Secure_Goal(200);
    /*quatorze_myAX12 -> Set_Secure_Goal(260);
    gauche_myAX12 -> Set_Secure_Goal(280);    
    quatorze_myAX12 -> Set_Secure_Goal(300); //avoir ax12 14 a 90°*/
   
   /* while(valeur_test<4)
    {
        Lecture();
    }*/
    
    
  
   
    
   
}