Projet robot / Deplacement

deplacement v6

Fork of Deplacement by Projet robot

Deplacement.cpp@12:5459169b6a52, 2017-03-23 (annotated)

Committer:
aure
Date:
Thu Mar 23 12:46:35 2017 +0000
Revision:
12:5459169b6a52
Parent:
11:5bc41c46cf28 
fbuyfgygf

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aure 0:d6b2da5ef6cb 1 #include "Deplacement.h"
aure 1:662d3c47637f 2 #include "mbed.h"
fab16 5:327f0df4ba8e 3
fab16 5:327f0df4ba8e 4 m3pi m3piD;
aure 0:d6b2da5ef6cb 5
aure 1:662d3c47637f 6 Deplacement::Deplacement() //constructeur
aure 1:662d3c47637f 7 {
aure 4:bd8b50f91f81 8
fab16 5:327f0df4ba8e 9 this->mseconds=30;// temps pour la rotation une fois valeur trouvé ne pas changer
fab16 5:327f0df4ba8e 10 posx=0;
fab16 5:327f0df4ba8e 11 posy=0;
fab16 8:751dfd02c59e 12 this->vitesse=0.1; //pointeur this
fab16 6:ad9dd32c18c7 13 }
fab16 6:ad9dd32c18c7 14
fab16 6:ad9dd32c18c7 15 void Deplacement::init(float val){
fab16 6:ad9dd32c18c7 16 m3piD.right_motor(val);
fab16 6:ad9dd32c18c7 17 m3piD.left_motor(val);
aure 1:662d3c47637f 18 }
aure 1:662d3c47637f 19
aure 1:662d3c47637f 20 Deplacement::~Deplacement()
aure 0:d6b2da5ef6cb 21 {
fab16 5:327f0df4ba8e 22
aure 1:662d3c47637f 23 }
aure 1:662d3c47637f 24 /////////////////////////////////////////////////////
aure 1:662d3c47637f 25
aure 1:662d3c47637f 26 void Deplacement::setVitesse(float v)
aure 1:662d3c47637f 27 {
fab16 5:327f0df4ba8e 28 this->vitesse=v;
aure 1:662d3c47637f 29 }
aure 1:662d3c47637f 30
aure 1:662d3c47637f 31 /////////////////////////////////////////////////////
aure 1:662d3c47637f 32
aure 1:662d3c47637f 33 void Deplacement::tourner_droite()
aure 1:662d3c47637f 34 {
aure 2:7e0d789e1be8 35 int copie=0;
aure 4:bd8b50f91f81 36
fab16 8:751dfd02c59e 37 m3piD.right(this->vitesse);
fab16 8:751dfd02c59e 38 wait(0.9);
aure 4:bd8b50f91f81 39
fab16 8:751dfd02c59e 40 m3piD.stop();
aure 4:bd8b50f91f81 41
aure 2:7e0d789e1be8 42 posx=copie;
aure 2:7e0d789e1be8 43 posx=posy;
aure 2:7e0d789e1be8 44 posy=-copie;
aure 2:7e0d789e1be8 45
aure 1:662d3c47637f 46 }
aure 1:662d3c47637f 47
aure 1:662d3c47637f 48 void Deplacement::tourner_gauche()
aure 1:662d3c47637f 49 {
fab16 8:751dfd02c59e 50 int copie=0;
aure 4:bd8b50f91f81 51
fab16 8:751dfd02c59e 52 m3piD.left(this->vitesse);
fab16 8:751dfd02c59e 53 wait(0.9);
fab16 8:751dfd02c59e 54 m3piD.stop();
aure 4:bd8b50f91f81 55
aure 4:bd8b50f91f81 56
aure 2:7e0d789e1be8 57 posx=copie;
aure 2:7e0d789e1be8 58 posx=-posy;
aure 2:7e0d789e1be8 59 posy=copie;
fab16 6:ad9dd32c18c7 60
aure 1:662d3c47637f 61 }
aure 1:662d3c47637f 62
aure 12:5459169b6a52 63 void Deplacement::avancer(float temps)
aure 1:662d3c47637f 64 {
fab16 5:327f0df4ba8e 65 m3piD.forward(this->vitesse);
fab16 11:5bc41c46cf28 66 wait(temps);
aure 2:7e0d789e1be8 67 posy++;
fab16 8:751dfd02c59e 68 m3piD.stop();
aure 1:662d3c47637f 69 }
aure 1:662d3c47637f 70
aure 12:5459169b6a52 71 void Deplacement::reculer(float temps)
aure 1:662d3c47637f 72 {
fab16 9:832a3d20c4ee 73 m3piD.right(this->vitesse);
fab16 9:832a3d20c4ee 74 wait(1.8);
fab16 5:327f0df4ba8e 75 m3piD.backward(this->vitesse);
fab16 11:5bc41c46cf28 76 wait(temps);
aure 2:7e0d789e1be8 77 posy--;
fab16 8:751dfd02c59e 78 m3piD.stop();
fab16 8:751dfd02c59e 79 }
fab16 8:751dfd02c59e 80
aure 12:5459169b6a52 81 void Deplacement::gauche(float temps){
fab16 8:751dfd02c59e 82 m3piD.left(this->vitesse);
fab16 8:751dfd02c59e 83 wait(0.9);
fab16 11:5bc41c46cf28 84 avancer(temps);
fab16 8:751dfd02c59e 85 }
fab16 8:751dfd02c59e 86
aure 12:5459169b6a52 87 void Deplacement::droite(float temps){
fab16 8:751dfd02c59e 88 m3piD.right(this->vitesse);
fab16 8:751dfd02c59e 89 wait(0.9);
fab16 11:5bc41c46cf28 90 avancer(temps);
aure 1:662d3c47637f 91 }
aure 1:662d3c47637f 92
aure 3:965871a8c5ff 93 void Deplacement::stop()
aure 3:965871a8c5ff 94 {
fab16 5:327f0df4ba8e 95 m3piD.stop();
aure 3:965871a8c5ff 96 }
aure 3:965871a8c5ff 97
aure 2:7e0d789e1be8 98 void Deplacement::RAZ()
aure 2:7e0d789e1be8 99 {
aure 2:7e0d789e1be8 100 posx=0;
fab16 5:327f0df4ba8e 101 posy=0;
fab16 5:327f0df4ba8e 102 this->vitesse=0;
aure 2:7e0d789e1be8 103
fab16 5:327f0df4ba8e 104 }
aure 1:662d3c47637f 105
aure 3:965871a8c5ff 106 float Deplacement::getVitesse()
fab16 5:327f0df4ba8e 107 {
fab16 5:327f0df4ba8e 108 return(this->vitesse);
fab16 5:327f0df4ba8e 109 }
fab16 5:327f0df4ba8e 110
aure 3:965871a8c5ff 111 int Deplacement::getPosX()
fab16 5:327f0df4ba8e 112 {
fab16 5:327f0df4ba8e 113 return(this->posx);
fab16 5:327f0df4ba8e 114 }
fab16 5:327f0df4ba8e 115
aure 3:965871a8c5ff 116 int Deplacement::getPosY()
fab16 5:327f0df4ba8e 117 {
fab16 5:327f0df4ba8e 118 return(this->posy);
fab16 5:327f0df4ba8e 119 }
aure 1:662d3c47637f 120
fab16 6:ad9dd32c18c7 121 void Deplacement::tourner_droite_t()
fab16 6:ad9dd32c18c7 122 {
fab16 6:ad9dd32c18c7 123
fab16 6:ad9dd32c18c7 124 m3piD.left_motor(this->vitesse);
fab16 6:ad9dd32c18c7 125 m3piD.right_motor(-(this->vitesse));
fab16 6:ad9dd32c18c7 126 }
fab16 6:ad9dd32c18c7 127
fab16 10:00043b0d1e5e 128 void Deplacement::quartRotation(){
fab16 10:00043b0d1e5e 129 m3piD.right(this->vitesse);
fab16 10:00043b0d1e5e 130 wait(0.9);
fab16 10:00043b0d1e5e 131 m3piD.stop();
fab16 10:00043b0d1e5e 132 }
fab16 10:00043b0d1e5e 133
aure 1:662d3c47637f 134
aure 1:662d3c47637f 135
aure 1:662d3c47637f 136
aure 1:662d3c47637f 137