Revision 36:660be809a49d, committed 2013-11-20

Comitter:

arnaudsuire

Date:

Wed Nov 20 10:47:38 2013 +0000

Parent:

35:3c410cdc4792

Child:

37:e1ad11fe3fe4

Commit message:

test motor 20.11.13

Changed in this revision

--- a/Module_Asservissement/Sous_Module_Mouvement/Module_Mouvement.cpp	Wed May 22 08:31:58 2013 +0000
+++ b/Module_Asservissement/Sous_Module_Mouvement/Module_Mouvement.cpp	Wed Nov 20 10:47:38 2013 +0000
@@ -29,10 +29,10 @@
  /* CONSRTRUCTEUR(S) */
  ModuleMouvement::ModuleMouvement()
  {
- m_motor1 = new PwmOut (p21);
- m_motor2 = new PwmOut (p22);
- m_motor3 = new PwmOut (p23);
- m_motor4 = new PwmOut (p24); 
+ m_motor1 = new PwmOut (p23);
+ m_motor2 = new PwmOut (p24);
+ m_motor3 = new PwmOut (p25);
+ m_motor4 = new PwmOut (p26); 
  }
  
  /* DESTRUCTEUR */
@@ -176,13 +176,19 @@
        //initialisation, attends du premier bip
        for (float s= 0; s < 0.40; s += 0.01) 
        {
-       m_motor1->write(s); 
+       m_motor1->write(s);
+       m_motor2->write(s);
+       m_motor3->write(s);
+       m_motor4->write(s);
        wait(0.2); 
        pc1.printf("%f", s);
        }
        wait(2);
        
        m_motor1->write(0.96);
+       m_motor2->write(0.96);
+       m_motor3->write(0.96);
+       m_motor4->write(0.96);
        pc1.printf("test motor");
        
        

--- a/main.cpp	Wed May 22 08:31:58 2013 +0000
+++ b/main.cpp	Wed Nov 20 10:47:38 2013 +0000
@@ -35,6 +35,7 @@
 #include "mbed.h"                    
 #include "mbos.h"
 #include "Module_Communication.h"
+#include "Module_Mouvement.h"
  
 #define TASK1_ID                1       // Id for task 1 (idle task is 0)
 #define TASK1_PRIO              50      // priority for task 1
@@ -52,7 +53,8 @@
 
 DigitalOut led1(LED1);
 DigitalOut led2(LED2);
-mbos os(2, 1);                          // Instantiate mbos with 2 tasks & 1 timer    
+mbos os(2, 1);                          // Instantiate mbos with 2 tasks & 1 timer 
+ModuleMouvement test;   
 
 int main(void)
 {
@@ -65,8 +67,10 @@
    os.Start();
     // never  return!
     */
+    test.TestMotor();
     C_ModuleCommunication com = C_ModuleCommunication();
     com.receptionDeTrame();
+    
 }
 
 void task1(void)