Alexandre Pirotte / Mbed 2 deprecated 0concours_cachan_programme_ok

ok

Dependencies:   mbed

Fork of _test_suivi_mur by christophe vermaelen

main.cpp@3:b91371837109, 2017-05-29 (annotated)

Committer:
vermaelen
Date:
Mon May 29 12:01:43 2017 +0000
Revision:
3:b91371837109
Parent:
2:82b72fa8dbcd
Child:
4:78a9354fcee8
suivi avec etat de contournement

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 3:b91371837109 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 2:82b72fa8dbcd 25 if(AN2>30) {
vermaelen 2:82b72fa8dbcd 26 etat=0;
vermaelen 3:b91371837109 27 t2.start();
vermaelen 3:b91371837109 28 t2.reset();
vermaelen 2:82b72fa8dbcd 29 stopMotor();
vermaelen 2:82b72fa8dbcd 30 }
vermaelen 2:82b72fa8dbcd 31 break;
vermaelen 3:b91371837109 32 case 2 :
vermaelen 3:b91371837109 33 if((AN2>10 && AN2<20) || US3<13) {
vermaelen 3:b91371837109 34 etat=1;
vermaelen 3:b91371837109 35 stopMotor();
vermaelen 3:b91371837109 36 }
vermaelen 3:b91371837109 37 if(t2.read()>2) {
vermaelen 3:b91371837109 38 etat=0;
vermaelen 3:b91371837109 39 }
vermaelen 3:b91371837109 40 break;
vermaelen 2:82b72fa8dbcd 41 }
vermaelen 2:82b72fa8dbcd 42 switch(etat) {
vermaelen 2:82b72fa8dbcd 43 case 0 :
vermaelen 2:82b72fa8dbcd 44 suivi_mur();
vermaelen 2:82b72fa8dbcd 45 break;
vermaelen 2:82b72fa8dbcd 46 case 1 :
vermaelen 2:82b72fa8dbcd 47 rotation_horaire();
vermaelen 2:82b72fa8dbcd 48 break;
vermaelen 3:b91371837109 49 case 2 :
vermaelen 3:b91371837109 50 contournement();
vermaelen 3:b91371837109 51 break;
vermaelen 2:82b72fa8dbcd 52 }
vermaelen 1:714fd6b732be 53
vermaelen 0:dcb865a03d57 54 }
vermaelen 0:dcb865a03d57 55 }