Alexandre Pirotte / Mbed 2 deprecated 0concours_cachan_programme_ok

ok

Dependencies:   mbed

Fork of _test_suivi_mur by christophe vermaelen

main.cpp@4:78a9354fcee8, 2017-05-29 (annotated)

Committer:
vermaelen
Date:
Mon May 29 16:50:40 2017 +0000
Revision:
4:78a9354fcee8
Parent:
3:b91371837109
Child:
6:5f7df5c74a77
VERSION QUI FONCTIONNE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vermaelen 0:dcb865a03d57 1 #include "mbed.h"
vermaelen 2:82b72fa8dbcd 2 #include "fct.h"
vermaelen 3:b91371837109 3 BusOut ledsetat(p12,p13);
vermaelen 0:dcb865a03d57 4
vermaelen 0:dcb865a03d57 5 int main()
vermaelen 0:dcb865a03d57 6 {
vermaelen 2:82b72fa8dbcd 7 int etat=0;
vermaelen 2:82b72fa8dbcd 8 init();
vermaelen 0:dcb865a03d57 9 while(1) {
vermaelen 4:78a9354fcee8 10 // printf("etat=%d US1=%.0f US2=%.0f US3=%.0f erreur=%.0f AN1=%.0f AN2=%.0f cmdD=%.0f cmdG=%.0f\n\r",etat,US1,US2,US3,(US2-US1),AN1,AN2,cmdD,cmdG);
vermaelen 2:82b72fa8dbcd 11 //wait(0.05);
vermaelen 3:b91371837109 12 ledsetat.write(etat);
vermaelen 2:82b72fa8dbcd 13 switch(etat) {
vermaelen 2:82b72fa8dbcd 14 case 0 :
vermaelen 3:b91371837109 15 if((AN2>10 && AN2<20) || US3<13) {
vermaelen 2:82b72fa8dbcd 16 etat=1;
vermaelen 2:82b72fa8dbcd 17 stopMotor();
vermaelen 2:82b72fa8dbcd 18 }
vermaelen 3:b91371837109 19 if(US2>100 && US1<40) {
vermaelen 3:b91371837109 20 etat=2;
vermaelen 3:b91371837109 21 stopMotor();
vermaelen 3:b91371837109 22 }
vermaelen 2:82b72fa8dbcd 23 break;
vermaelen 2:82b72fa8dbcd 24 case 1 :
vermaelen 4:78a9354fcee8 25 if(US2>100 && US1<40) {
vermaelen 4:78a9354fcee8 26 etat=2;
vermaelen 4:78a9354fcee8 27 stopMotor();
vermaelen 4:78a9354fcee8 28 }
vermaelen 2:82b72fa8dbcd 29 if(AN2>30) {
vermaelen 2:82b72fa8dbcd 30 etat=0;
vermaelen 3:b91371837109 31 t2.start();
vermaelen 3:b91371837109 32 t2.reset();
vermaelen 2:82b72fa8dbcd 33 stopMotor();
vermaelen 2:82b72fa8dbcd 34 }
vermaelen 4:78a9354fcee8 35
vermaelen 2:82b72fa8dbcd 36 break;
vermaelen 3:b91371837109 37 case 2 :
vermaelen 3:b91371837109 38 if((AN2>10 && AN2<20) || US3<13) {
vermaelen 3:b91371837109 39 etat=1;
vermaelen 3:b91371837109 40 stopMotor();
vermaelen 3:b91371837109 41 }
vermaelen 4:78a9354fcee8 42 if(t2.read()>4) {
vermaelen 3:b91371837109 43 etat=0;
vermaelen 3:b91371837109 44 }
vermaelen 3:b91371837109 45 break;
vermaelen 2:82b72fa8dbcd 46 }
vermaelen 2:82b72fa8dbcd 47 switch(etat) {
vermaelen 2:82b72fa8dbcd 48 case 0 :
vermaelen 2:82b72fa8dbcd 49 suivi_mur();
vermaelen 2:82b72fa8dbcd 50 break;
vermaelen 2:82b72fa8dbcd 51 case 1 :
vermaelen 2:82b72fa8dbcd 52 rotation_horaire();
vermaelen 2:82b72fa8dbcd 53 break;
vermaelen 3:b91371837109 54 case 2 :
vermaelen 3:b91371837109 55 contournement();
vermaelen 3:b91371837109 56 break;
vermaelen 2:82b72fa8dbcd 57 }
vermaelen 1:714fd6b732be 58
vermaelen 0:dcb865a03d57 59 }
vermaelen 0:dcb865a03d57 60 }