Diff: main.cpp

Revision:

8:24a3fa0f912a

Parent:

6:5f7df5c74a77

--- a/main.cpp	Wed May 31 08:48:23 2017 +0000
+++ b/main.cpp	Wed Jun 07 16:14:27 2017 +0000
@@ -1,60 +1,29 @@
 #include "mbed.h"
 #include "fct.h"
-BusOut ledsetat(p12,p13);
-
+DigitalOut cs(p13);
+DigitalIn bp(p14);
 int main()
 {
-    int etat=0;
-    init();
+    char A=0x80;
+    char B=0x00;
+    monI2C.write(ADR_PCF,&A,1);
+    vitG.period(PERIOD);
+    vitD.period(PERIOD);
+    vitG.pulsewidth(PERIOD);
+    vitD.pulsewidth(PERIOD);
+    cs = 1;                //initialisation de CS à ‘1’
+    spi.format(16,0);
+    spi.frequency(1000000);
+    bp.mode(PullUp);
     while(1) {
-       // 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);
-        //wait(0.05);
-        ledsetat.write(etat);
-        switch(etat) {
-            case 0 :
-                if((AN2>10 && AN2<20) || US3<13) {
-                    etat=1;
-                    stopMotor();
-                }
-                if(US2>100 && US1<40) {
-                    etat=2;
-                    stopMotor();
-                }
-                break;
-            case 1 :
-                if(US2>100 && US1<40) {
-                    etat=2;
-                    stopMotor();
-                }
-                if(AN2>30) {
-                    etat=0;
-                    t2.start();
-                    t2.reset();
-                    stopMotor();
-                }
-
-                break;
-            case 2 :
-                if((AN2>10 && AN2<20) || US3<13) {
-                    etat=1;
-                    stopMotor();
-                }
-                if(t2.read()>2.5) {
-                    etat=0;
-                }
-                break;
-        }
-        switch(etat) {
-            case 0 :
-                suivi_mur();
-                break;
-            case 1 :
-                rotation_horaire();
-                break;
-            case 2 :
-                contournement();
-                break;
-        }
-
+        leds.write(bp.read()+1);
+        //cs=0;
+        monI2C.write(ADR_PCF,&B,1);
+        unsigned int valeur = spi.write(0x00);
+        valeur = (valeur>>1)&0x0FFF;
+        printf("valeur lue = %d\n\r", valeur);
+        //cs=1;
+        monI2C.write(ADR_PCF,&A,1);
+        wait(0.05);
     }
 }