ajout module_mouvement
Dependencies: mbed xbee_lib ADXL345_I2C IMUfilter ITG3200 Motor RangeFinder Servo mbos PID
Fork of Labo_TRSE_Drone by
Revision 35:3c410cdc4792, committed 2013-05-22
- Comitter:
- arnaudsuire
- Date:
- Wed May 22 08:31:58 2013 +0000
- Parent:
- 34:acc8ea8694b4
- Child:
- 36:660be809a49d
- Commit message:
- motor
Changed in this revision
Module_Asservissement/Sous_Module_Mouvement/Module_Mouvement.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/Module_Asservissement/Sous_Module_Mouvement/Module_Mouvement.cpp Mon Apr 22 19:13:35 2013 +0000 +++ b/Module_Asservissement/Sous_Module_Mouvement/Module_Mouvement.cpp Wed May 22 08:31:58 2013 +0000 @@ -25,8 +25,6 @@ //communication série USB Serial pc1(USBTX,USBRX); - - /* CONSRTRUCTEUR(S) */ ModuleMouvement::ModuleMouvement() @@ -80,17 +78,19 @@ m_uiCommand = 0; m_uiDistance = 0.6; //60cm GestionVitesseMotors(m_uiCommand, m_uiDistance); - - //vol stationnaire - VolStationnaire(); while(1){ + + //vol stationnaire + //attente recuperation commande provenant de trajectoire, + VolStationnaire(); - // recuperation commande provenant de trajectoire, comment recup, quel format, quel taille? // gestion motors + GestionVitesseMotors(m_uiCommand, m_uiDistance); - // gestion stabilisation, get services? + + // gestion stabilisation } } @@ -203,8 +203,11 @@ //initialisation, attends du premier bip for (float s= 0; s < 0.40; s += 0.01) { - m_motor1->write(s); - wait(0.2); + m_motor1->write(s); + m_motor2->write(s); + m_motor3->write(s); + m_motor4->write(s); + wait(0.02); pc1.printf("%f", s); } wait(1); @@ -217,7 +220,10 @@ for(float s= 0.40; s > 0; s-= 0.01) { m_motor1->write(s); - wait(0.01); + m_motor2->write(s); + m_motor3->write(s); + m_motor4->write(s); + wait(0.02); pc1.printf("%f", s); } wait(1);