ilan Sandoz
boussole et pixi
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
Fork of
TestBoard
by 
IUT DE CACHAN GE1
Revision 0:f00e68bef80c, committed 2017-05-27
- Comitter:
- haarkon
- Date:
- Sat May 27 15:15:41 2017 +0000
- Child:
- 1:d95546f84105
- Commit message:
- First draft of Test board program
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Encoder_Nucleo_16_bits.lib Sat May 27 15:15:41 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/kkoichy/code/Encoder_Nucleo_16_bits/#e82009479b5c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PwmIn.lib Sat May 27 15:15:41 2017 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/simon/code/PwmIn/#6d68eb9b6bbb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sat May 27 15:15:41 2017 +0000
@@ -0,0 +1,686 @@
+/** Main Test Board
+ *
+ * \brief Programme de tests pour le robot NCR 2017
+ * \author H. Angelis
+ * \version alpha_1
+ * \date 15/05/17
+ *
+ */
+
+#include "mbed.h"
+#include "PwmIn.h"
+#include "Nucleo_Encoder_16_bits.h"
+
+#define BOUSSOLE_adress 0xC0
+
+typedef unsigned char Byte;
+typedef unsigned short Word;
+typedef unsigned long lWord;
+
+typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR;
+
+typedef union {
+ lWord header;
+ Byte tab[4];
+} T_tmpbuffer;
+
+typedef struct {
+ Word checksum;
+ Word signature;
+ Word x;
+ Word y;
+ Word width;
+ Word height;
+ Word angle; // angle is only available for color coded blocks
+} T_pixyCCBloc;
+
+
+typedef union {
+ Byte tab[14];
+ T_pixyCCBloc CCbloc;
+} T_pixyData;
+
+
+/** Liste des objets
+ *
+ * Serial #4 Pixy
+ * Serial #2 Pc
+ *
+ * AnalogIn C1, C2, C3, LD1, LD2, SD1, SD2, Vbat
+ *
+ * DigitalOut Led1, Led2, Trig1, Trig2, Trig3, En, SensG, SensD
+ *
+ * InterruptIn IndexG, IndexD, Echo1, Echo2, Echo3, BP
+ *
+ * PwmOut Pwm_MG, Pwm_MD, Servo
+ *
+ * PwmIn PWMG, PWMD, PWMB
+ *
+ * I2C Bus_I2C
+ *
+ * SPI MotG, MotD
+ *
+ * Nucleo_Encoder_16_bits Gauche, Droite
+ *
+ * Ticker timer
+ */
+
+/** Liste des PINs
+ *
+ * PIN MAP (ordre alphabetique) des PINs de la Nucléo 64 utilisée
+ * PA_0 -> Pixy RX (Serial)
+ * PA_1 -> Pixy TX (Serial)
+ * PA_2 -> PC TX (Serial)
+ * PA_3 -> PX RX (Serial)
+ * PA_4 -> GP2 SD #2 (Analog In)
+ * PA_5 -> LED1 (Digital Out)
+ * PA_6 -> CNY3 (Analog In)
+ * PA_7 -> CNY2 (Analog In)
+ * PA_8 -> Servomoteur (PWM Out)
+ * PA_9 -> US Trigger #3 (Digital Out)
+ * PA_10 -> I (Encodeur Droit) (IRQ In)
+ * PA_11 -> US Echo #2 (Pwm In)
+ * PA_12 -> US Echo #1 (Pwm In)
+ * PA_13
+ * PA_14
+ * PA_15 -> Boussole (Pwm In)
+ *
+ * PB_0 -> GP2 SD #1 (Analog In)
+ * PB_1 -> Position D (Pwm In)
+ * PB_2 -> Position G (Pwm In)
+ * PB_3 -> PWM Mot D (PWM Out)
+ * PB_4 -> Enocdeur Droit A (QE)
+ * PB_5 -> Enocdeur Droit B (QE)
+ * PB_6 -> Enocdeur Gauche A (QE)
+ * PB_7 -> Enocdeur Gauche B (QE)
+ * PB_8 -> SCL (I2C)
+ * PB_9 -> SDA (I2C)
+ * PB_10 -> PWM Mot G (PWM Out)
+ * PB_11
+ * PB_12 -> US Echo #3 (Pwm In)
+ * PB_13 -> SCK Encodeur D (SPI)
+ * PB_14 -> MISO Encodeur D (SPI)
+ * PB_15 -> MOSI Encodeur D (SPI)
+ *
+ * PC_0 -> GP2 LD #1 (Analog In)
+ * PC_1 -> GP2 LD #2 (Analog In)
+ * PC_2 -> US Trigger #2 (Digital Out)
+ * PC_3 -> US Trigger #1 (Digital Out)
+ * PC_4 -> CNY1 (Analog In)
+ * PC_5 -> Vbat (Analog In)
+ * PC_6 -> Dir Mot Droit (Digital Out)
+ * PC_7 -> I (Encodeur Gauche) (IRQ In)
+ * PC_8 -> Dir Mot Gauche (Digital Out)
+ * PC_9 -> Enable Moteurs (Digital Out)
+ * PC_10 -> SCK Encodeur G (SPI)
+ * PC_11 -> MISO Encodeur G (SPI)
+ * PC_12 -> MOSI Encodeur G (SPI)
+ * PC_13 -> User BP (IRQ In)
+ * PC_14
+ * PC_15
+ *
+ * PD_1
+ * PD_2 -> Led2 (Digital Out)
+ */
+
+Serial Pixy (PA_0, PA_1, 115200);
+Serial Pc (PA_2, PA_3, 460800);
+
+AnalogIn CNY1 (PC_4);
+AnalogIn CNY2 (PA_7);
+AnalogIn CNY3 (PA_6);
+AnalogIn LD1 (PC_0);
+AnalogIn LD2 (PC_1);
+AnalogIn SD1 (PB_0);
+AnalogIn SD2 (PA_4);
+AnalogIn Vbat (PC_5);
+
+DigitalOut Led1 (PA_5);
+DigitalOut Led2 (PD_2);
+DigitalOut Trig1 (PC_3);
+DigitalOut Trig2 (PC_2);
+DigitalOut Trig3 (PA_9);
+DigitalOut En (PC_9);
+DigitalOut SensG (PC_8);
+DigitalOut SensD (PC_6);
+
+InterruptIn Echo1 (PA_12);
+InterruptIn Echo2 (PA_11);
+InterruptIn Echo3 (PB_12);
+InterruptIn BP (PC_13);
+InterruptIn IG (PC_7);
+InterruptIn ID (PA_10);
+
+PwmOut Pwm_MG (PB_10);
+PwmOut Pwm_MD (PB_3);
+PwmOut Servo (PA_8);
+
+PwmIn PWMG (PB_2);
+PwmIn PWMD (PB_1);
+PwmIn PWMB (PA_15);
+
+I2C Bus_I2C (PB_9, PB_8);
+
+SPI MotG (PC_12, PC_11, PC_10);
+SPI MotD (PB_15, PB_14, PB_13);
+
+Nucleo_Encoder_16_bits Gauche (TIM4); // A = PB_6, B = PB_7
+Nucleo_Encoder_16_bits Droite (TIM3); // A = PB_4, B = PB_5
+
+Ticker timer;
+Timer temps;
+
+/** Liste des variables globales
+ *
+ * Tick -> (long) Compte le nombre de MS écoulé et déclenche l'exécution de la boucle en fonction du temps écoulé.
+ * FlagIG -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue gauche
+ * FlagID -> (int) Indication de la présence de fronts sur l'index de l'encodeur de la roue droite
+ * EchoXStart -> (long) Donne le temps en µs de début de l'impulsion d'écho de l'US n°X
+ * DistUSX -> (float) Donne la distance en mm mesurée par l'US n°X
+ */
+
+// Structure de temps
+lWord Tick = 0;
+
+// Sémaphore d'interruption
+int FlagUS1 = 0, FlagUS2 = 0, FlagUS3 = 0, FlagPixy = 0, FlagPixyOverflow = 0;
+int FlagTick = 0, FlagTickLed = 0, BPPressed = 0;
+
+// Dialogue avec la Pixy
+T_pixyData Pixy_FIFO[20];
+Byte Pixy_nbObjet = 0, Pixy_wObjet = 0, pixy_rObjet = 0;
+
+// Gestion des capteurs Ultrason
+long Echo1Start, Echo2Start, Echo3Start;
+double DistUS1, DistUS2, DistUS3;
+
+/** Liste des interruptions
+ *
+ */
+
+void tickTime()
+{
+ Tick++;
+ FlagTick = 1;
+ if ((Tick%100)==0) FlagTickLed = 1;
+}
+
+void BPevent ()
+{
+ BPPressed = 1;
+}
+
+void echo1Rise ()
+{
+ Echo1Start = temps.read_us();
+}
+
+void echo2Rise ()
+{
+ Echo2Start = temps.read_us();
+ Led2 = !Led2;
+}
+
+void echo3Rise ()
+{
+ Echo3Start = temps.read_us();
+}
+
+void echo1Fall ()
+{
+ DistUS1 = (double)(temps.read_us() - Echo1Start)/5.8;
+ FlagUS1 = 1;
+}
+
+void echo2Fall ()
+{
+ DistUS2 = (double)(temps.read_us() - Echo2Start)/5.8;
+ FlagUS2 = 1;
+}
+
+void echo3Fall ()
+{
+ DistUS3 = (double)(temps.read_us() - Echo3Start)/5.8;
+ FlagUS3 = 1;
+}
+
+void getPixyByte ()
+{
+
+ static T_tmpbuffer tmpBuffer;
+ static Byte bytecount = 0;
+ static int Pixy_synced = 0;
+ int i;
+
+ if (!Pixy_synced) { // On n'a pas trouvé le départ (0x55aa55aa ou 0x55aa56aa)
+ tmpBuffer.tab[bytecount] = Pixy.getc(); // On stocke l'octet reçu dans la première case dispo du tableau temporaire
+ if (bytecount < 3) { // Si on n'a pas encore reçu les 4 premier octets
+ bytecount++; // On passe à la case suivante du tableau temporaire
+ } else { // Si on a 4 octets de données
+ if (tmpBuffer.header == 0x55aa56aa) { // Si on a un Color Code Bloc
+ if (Pixy_wObjet < 19) Pixy_wObjet++; // On incrémente le pointeur d'écriture dans la FIFO Objet
+ else Pixy_wObjet = 0;
+ Pixy_nbObjet++; // On dit que l'on a un objet de plus
+ if (Pixy_nbObjet >= 20) FlagPixyOverflow = 1; // Si on a plus de 20 objets (en attente) => Overflow
+ Pixy_synced = 1; // Et on peut dire que l'on a synchronisé la Pixy
+ bytecount = 0;
+ } else { // Si on n'a pas vu le header d'un Color Code Bloc
+ for (i=1; i<4; i++) tmpBuffer.tab[i-1] = tmpBuffer.tab[i]; // On décalle les cases du tableau
+ }
+ }
+ } else { // La Pixy est synchronisée
+ Pixy_FIFO[Pixy_wObjet].tab[bytecount] = Pixy.getc(); // On stocke les octets un à un dans la structure CCBloc
+ if (bytecount < 14) bytecount++; // tant que la structure n'est pas pleine
+ else { // Quand elle est pleine
+ bytecount = 0; // On réinitialise
+ Pixy_synced = 0;
+ FlagPixy = 1; // Et on signale au main qu'un objet est pret à être analysé.
+ }
+ }
+}
+
+int main()
+{
+
+ int I2C_check = -1, BOUSSOLE_check = -1 /*, SPI2_check = -1, SPI3_check = -1, PIXY_check = -1, MOTG_check = -1, MOTD_check = -1*/;
+ int phase = 0;
+
+ double SERVO_angle = 0, SERVO_angleMAX = 180, SERVO_angleMIN = 0;
+ Word SERVO_pos;
+ T_SERVODIR SERVO_dir = S_monte;
+
+ Byte PIXY_red = 0, PIXY_green = 0, PIXY_blue = 0;
+ char MENU_choix = 0;
+
+ char BOUSSOLE_status[1] = {0}/*, BOUSSOLE_bearingWord[1] = {2}*/;
+ char I2C_registerValue[4];
+
+ double CAP_I2C, CAP_PWM;
+ double SD1_val, SD2_val, LD1_val, LD2_val, CNY1_val, CNY2_val, CNY3_val, Vbat_val;
+ double SD1_dist, SD2_dist, LD1_dist, LD2_dist;
+ double periode;
+
+ temps.reset();
+ temps.start();
+
+
+ timer.attach(&tickTime, 0.001);
+
+ Bus_I2C.frequency (100000);
+
+ BP.rise (&BPevent);
+
+ Echo1.rise (&echo1Rise);
+ Echo2.rise (&echo2Rise);
+ Echo3.rise (&echo3Rise);
+ Echo1.fall (&echo1Fall);
+ Echo2.fall (&echo2Fall);
+ Echo3.fall (&echo3Fall);
+
+ IG.enable_irq();
+ ID.enable_irq();
+ Echo1.enable_irq();
+ Echo2.enable_irq();
+ Echo3.enable_irq();
+
+ Pixy.attach (&getPixyByte);
+
+ Pwm_MG.period_us(50);
+ Pwm_MD.period_us(50);
+ Pwm_MG = 0;
+ Pwm_MD = 0;
+ En = 0;
+ SensG = 0;
+ SensD = 0;
+ Led2 = 0;
+
+ Servo.period_ms(20);
+
+ while(1) {
+
+ do {
+ Led1 = 0;
+ Pc.printf ("\n\n\n\n\rProgramme de test\n\n\rEntrez le code du test a effectuer :\n\n");
+ Pc.printf ("\r1- Capteurs Ultra Son (les 3)\n");
+ Pc.printf ("\r2- Boussole et I2C\n");
+ Pc.printf ("\r3- Capteurs GP2 (les 4)\n");
+ Pc.printf ("\r4- Capteurs CNY70 (les 3)\n");
+ Pc.printf ("\r5- VBAT\n");
+ Pc.printf ("\r6- Moteur Gauche -- NON CODE\n");
+ Pc.printf ("\r7- Moteur Droit -- NON CODE\n");
+ Pc.printf ("\r8- Servomoteur\n");
+ Pc.printf ("\r9- Test de la PIXY\n\r");
+ MENU_choix = Pc.getc ();
+ } while (((MENU_choix-'0')<1) || ((MENU_choix-'0')>9));
+
+ switch (MENU_choix-'0') {
+
+ case 1 :
+ Pc.printf ("\n\n\rTest des captreurs Ultrason\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+ }
+
+ // Gestion des US
+ if (((Tick%150)==0) && FlagTick) {
+ Trig1 = 1;
+ wait_us(20);
+ Trig1 = 0;
+ FlagTick = 0;
+ }
+
+ if (((Tick%150)==50) && FlagTick) {
+ Trig2 = 1;
+ wait_us(20);
+ Trig2 = 0;
+ FlagTick = 0;
+ }
+
+ if (((Tick%150)==100) && FlagTick) {
+ Trig3 = 1;
+ wait_us(20);
+ Trig3 = 0;
+ FlagTick = 0;
+ }
+
+ if (FlagUS1==1) {
+ Pc.printf ("\rUS 1 = %04d mm", (int)DistUS1);
+ FlagUS1 = 0;
+ }
+
+ if (FlagUS2==1) {
+ Pc.printf ("\r\t\t\tUS 2 = %04d mm", (int)DistUS2);
+ FlagUS2 = 0;
+ }
+
+ if (FlagUS3==1) {
+ Pc.printf ("\r\t\t\t\t\t\tUS 3 = %04d mm", (int)DistUS3);
+ FlagUS3 = 0;
+ }
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 2 :
+ Pc.printf ("\n\n\rBoussole\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+
+ Pc.printf ("\n\rVerif du bus I2C :");
+ I2C_check = Bus_I2C.write (BOUSSOLE_adress,BOUSSOLE_status,1,false);
+ if (I2C_check==0) {
+ Pc.printf (" OK\n");
+ Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true);
+ Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4);
+ Pc.printf ("\rVersion Firmware boussole : %03d\n", I2C_registerValue[0]);
+ } else {
+ Pc.printf (" FAIL\n");
+ }
+
+ periode = PWMB.period();
+ Pc.printf ("\rVerif de la PWM :");
+ if ((periode > 0.11) || (periode < 0.06)) {
+ Pc.printf (" FAIL\n\n");
+ } else {
+ Pc.printf (" OK\n\n");
+ BOUSSOLE_check = 0;
+ }
+
+ do {
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+ }
+
+ if (((Tick%150)==0)&& FlagTick) {
+ FlagTick = 0;
+ if (BOUSSOLE_check==0) {
+ CAP_PWM = ((PWMB.pulsewidth()*1000)-1)*10;
+ Pc.printf ("\r PWM = %4.1lf\t", CAP_PWM);
+ }
+ if (I2C_check==0) {
+ Bus_I2C.write(BOUSSOLE_adress,BOUSSOLE_status, 1, true);
+ Bus_I2C.read (BOUSSOLE_adress,I2C_registerValue,4);
+ CAP_I2C = (double)(((unsigned short)I2C_registerValue[2]<<8)+(unsigned short)I2C_registerValue[3])/10.0;
+ Pc.printf ("\t I2C = %4.1lf\r", CAP_I2C);
+ }
+ }
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 3 :
+ Pc.printf ("\n\n\rGP2xx\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+
+ SD1_val = SD1;
+ SD2_val = SD2;
+ LD1_val = LD1;
+ LD2_val = LD2;
+
+ if (SD1_val < 0.06) {
+ SD1_val = 0;
+ SD1_dist = 40;
+ } else {
+ SD1_dist = 11.611/(SD1_val*3.3-0.0237);
+ if (SD1_dist > 40) SD1_dist = 40;
+ }
+
+ if (SD2_val < 0.06) {
+ SD2_val = 0;
+ SD2_dist = 40;
+ } else {
+ SD2_dist = 11.611/(SD2_val*3.3-0.0237);
+ if (SD2_dist > 40) SD2_dist = 40;
+ }
+
+ if (LD1_val < 0.1) {
+ LD1_val = 0;
+ LD1_dist = 150;
+ } else {
+ LD1_dist = 59.175/(LD1_val*3.3-0.0275);
+ if (LD1_dist > 150) LD1_dist = 150;
+ }
+
+ if (LD2_val < 0.1) {
+ LD2_val = 0;
+ LD2_dist = 150;
+ } else {
+ LD2_dist = 59.175/(LD2_val*3.3-0.0275);
+ if (LD2_dist > 150) LD2_dist = 150;
+ }
+
+ Pc.printf ("\r SD1 = %3.1lf cm - SD2 = %3.1lf cm - LD1 = %4.1lf cm - LD2 = %4.1lf cm", SD1_dist, SD2_dist, LD1_dist, LD2_dist);
+ }
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 4 :
+ Pc.printf ("\n\n\rCNY70\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+
+ CNY1_val = CNY1;
+ CNY2_val = CNY2;
+ CNY3_val = CNY3;
+
+ Pc.printf ("\r CNY1 = %3.2lf V\t CNY2 = %3.2lf V\t CNY3 = %3.2lf V", CNY1_val*3.3, CNY2_val*3.3, CNY3_val*3.3);
+ }
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 5 :
+ Pc.printf ("\n\n\rVbat\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+
+ Vbat_val = Vbat;
+ Pc.printf ("\rVbat = %5.3lf V", Vbat_val*3.3*4.3);
+ }
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 6 :
+ Pc.printf ("\n\n\rMoteur Gauche\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+ }
+
+
+
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 7 :
+ Pc.printf ("\n\n\rMoteur Droit\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+ wait (0.1);
+ }
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 8 :
+ Pc.printf ("\n\n\rServo Moteur\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+ if (FlagTickLed) {
+ Led1 = !Led1;
+ FlagTickLed = 0;
+ }
+
+ if (((Tick%250)==0) && FlagTick) {
+ if (SERVO_dir == S_monte) {
+ if (SERVO_angle >= SERVO_angleMAX) {
+ SERVO_dir = S_descente;
+ SERVO_angle = SERVO_angleMAX;
+ } else {
+ SERVO_angle += 5;
+ }
+ } else {
+ if (SERVO_angle <= SERVO_angleMIN) {
+ SERVO_dir = S_monte;
+ SERVO_angle = SERVO_angleMIN;
+ } else {
+ SERVO_angle -= 5;
+ }
+ }
+ SERVO_pos = (lWord)(SERVO_angle*50/9) + 1000;
+ Servo.pulsewidth_us(SERVO_pos);
+ Pc.printf ("\rAngle = %4.1lf", SERVO_angle);
+ }
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ case 9 :
+ Pc.printf ("\n\n\rPixy\n");
+ Pc.printf ("\rAppuyez sur Entree pour quitter\n");
+ do {
+ if ((Tick%2)==0) {
+ switch (phase) {
+ case 0 :
+ PIXY_red += 5;
+ if (PIXY_red == 255) phase = 1;
+ break;
+ case 1 :
+ PIXY_green += 5;
+ if (PIXY_green == 255) phase = 2;
+ break;
+ case 2 :
+ PIXY_red -= 5;
+ if (PIXY_red == 0) phase = 3;
+ break;
+ case 3 :
+ PIXY_blue += 5;
+ if (PIXY_blue == 255) phase = 4;
+ break;
+ case 4 :
+ PIXY_green -= 5;
+ if (PIXY_green == 0) phase = 5;
+ break;
+ case 5 :
+ PIXY_red += 5;
+ if (PIXY_red == 255) phase = 6;
+ break;
+ case 6 :
+ PIXY_green += 5;
+ if (PIXY_green == 255) phase = 7;
+ break;
+ case 7 :
+ PIXY_red -= 5;
+ if (PIXY_red == 0) phase = 8;
+ break;
+ case 8 :
+ PIXY_green -= 5;
+ if (PIXY_green == 0) phase = 9;
+ break;
+ case 9 :
+ PIXY_red += 5;
+ if (PIXY_red == 255) phase = 10;
+ break;
+ case 10 :
+ PIXY_blue -= 5;
+ if (PIXY_blue == 0) phase = 11;
+ break;
+ case 11 :
+ PIXY_green += 5;
+ if (PIXY_green == 255) phase = 12;
+ break;
+ case 12 :
+ PIXY_green += 5;
+ if (PIXY_green == 255) phase = 13;
+ break;
+ case 13 :
+ PIXY_red -= 5;
+ if (PIXY_red == 0) phase = 14;
+ break;
+ case 14 :
+ PIXY_green -= 5;
+ if (PIXY_green == 0) phase = 0;
+ break;
+ }
+ Pixy.putc(0);
+ Pixy.putc(0xFF);
+ Pixy.putc(PIXY_red);
+ Pixy.putc(PIXY_green);
+ Pixy.putc(PIXY_blue);
+
+ if ((Tick%50)==0) {
+ Pc.printf ("\r Nombre d'objets detecte = %d",Pixy_nbObjet);
+ FlagPixy = 0;
+ Pixy_nbObjet = 0;
+ }
+ }
+ if ((Tick%100)==0) Led1 = !Led1;
+ } while(!Pc.readable());
+ MENU_choix = Pc.getc();
+ break;
+
+ }
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat May 27 15:15:41 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/4eea097334d6 \ No newline at end of file