commit d9edd298f65456cbaa02b55baac54678901b7d61 Author: Forest Date: Tue Apr 25 15:22:41 2017 +0200 Premier log diff --git a/SG90Servo.pdf b/SG90Servo.pdf new file mode 100644 index 0000000..bcf2183 Binary files /dev/null and b/SG90Servo.pdf differ diff --git a/SHARE/desktop.ini b/SHARE/desktop.ini new file mode 100644 index 0000000..995bb2e --- /dev/null +++ b/SHARE/desktop.ini @@ -0,0 +1,5 @@ +[.ShellClassInfo] +InfoTip=Ce dossier est partagé en ligne. +IconFile=C:\Program Files\Google\Drive\googledrivesync.exe +IconIndex=16 + \ No newline at end of file diff --git a/SHARE/mbed-os-motor-control-serialARCH_PRO_DEBUG.bin b/SHARE/mbed-os-motor-control-serialARCH_PRO_DEBUG.bin new file mode 100644 index 0000000..cd176f5 Binary files /dev/null and b/SHARE/mbed-os-motor-control-serialARCH_PRO_DEBUG.bin differ diff --git a/SHARE/mbed-os-motor-control-serialARCH_PRO_RELEASE.bin b/SHARE/mbed-os-motor-control-serialARCH_PRO_RELEASE.bin new file mode 100644 index 0000000..b09f6ba Binary files /dev/null and b/SHARE/mbed-os-motor-control-serialARCH_PRO_RELEASE.bin differ diff --git a/SHARE/motor-control-serial.cpp b/SHARE/motor-control-serial.cpp new file mode 100644 index 0000000..0bb23ec --- /dev/null +++ b/SHARE/motor-control-serial.cpp @@ -0,0 +1,68 @@ +#include "mbed.h" + +DigitalOut led2(P0_5); +DigitalOut led1(LED1); +PwmOut servo1(P2_5); +PwmOut servo2(P2_4); +//Serial pc(USBTX,USBRX); +Serial pc(USBTX,USBRX); +Thread mythread; + +void console_thread(){ + char buff[255]; + char *c0; + char *c; + int vals[3]; + int num=0; + //pc.printf("Ask for servos with XXX,YYY \n\r(where XXX and YYY are integers 1/1000 of 20ms)\n\r"); //Commented in RELEASE + + while (true) { + c0=buff; + c=buff; + for(num=0;num<2;){ + + *c=pc.getc(); // echo input back to terminal + pc.putc(*c); + if(*c == 'q') + break ; + if((*c == '\n') || (*c == '\r') || (*c == '\0') || (*c == ' ') || (*c == ',')) + { + // + *c='\0'; + vals[num]=atoi(c0); + c0=c+1; + num++; + } + c++; + } + float s_vals[2]; + int idx=0; + for(idx=0;idx<2;idx++){ + if(vals[idx]<0) vals[idx]=0; + if(vals[idx]>1000) vals[idx]=1000; + s_vals[idx]=vals[idx]*0.001; + } + servo1=s_vals[0]; + servo2=s_vals[1]; + + pc.printf("%d,%d \n",vals[0],vals[1]); + wait(0.5); + + + + } +} + +int main() { + mythread.start(console_thread); + int mystate=0; + servo1.period_ms(20); + servo2.period_ms(20); + while (true) { + led2 = !led2; + led1 = !led1; + mystate = !mystate; + wait(0.5); + } +} + diff --git a/code/.Rhistory b/code/.Rhistory new file mode 100644 index 0000000..e69de29 diff --git a/code/CMakeCache.txt b/code/CMakeCache.txt new file mode 100644 index 0000000..b0fac1c --- /dev/null +++ b/code/CMakeCache.txt @@ -0,0 +1,338 @@ +# This is the CMakeCache file. +# For build in directory: /home/sasl/eleves/rob/3408017/projet_info +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If 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VVRRPPPP */ +# define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000) +# endif +# endif +# if defined(_MSC_BUILD) +# define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD) +# endif + +/* Analog VisualDSP++ >= 4.5.6 */ +#elif defined(__VISUALDSPVERSION__) +# define COMPILER_ID "ADSP" + /* __VISUALDSPVERSION__ = 0xVVRRPP00 */ +# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24) +# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF) +# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8 & 0xFF) + +/* Analog VisualDSP++ < 4.5.6 */ +#elif defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__) +# define COMPILER_ID "ADSP" + +/* IAR Systems compiler for embedded systems. + http://www.iar.com */ +#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC) +# define COMPILER_ID "IAR" + +#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION) +# define COMPILER_ID "MIPSpro" +# if defined(_SGI_COMPILER_VERSION) + /* 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DisplayImage" + @echo "... edit_cache" + @echo "... rebuild_cache" + @echo "... DisplayImage.o" + @echo "... DisplayImage.i" + @echo "... DisplayImage.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/code/Sample0_display.cpp b/code/Sample0_display.cpp new file mode 100644 index 0000000..966b8a8 --- /dev/null +++ b/code/Sample0_display.cpp @@ -0,0 +1,30 @@ +#include +#include + +using namespace cv; + +int main(int argc, char** argv ) +{ + CvCapture *capture; + IplImage *image; + + VideoCapture cap(0); // open the default camera + if(!cap.isOpened()) // check if we succeeded + return -1; + Mat edges; + namedWindow("edges",1); + for(;;) + { + Mat frame; + cap >> frame; // get a new frame from camera + cvtColor(frame, edges, CV_BGR2GRAY); + GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5); + Canny(edges, edges, 0, 30, 3); + imshow("edges", edges); + if(waitKey(30) >= 0) break; + } + + waitKey(0); + return 0; + +} diff --git a/code/Sample1.cpp b/code/Sample1.cpp new file mode 100644 index 0000000..6ce9f3c --- /dev/null +++ b/code/Sample1.cpp @@ -0,0 +1,48 @@ +#include +#include + +using namespace cv; + +int main(int argc, char** argv ) +{ + CvCapture *capture; + IplImage *image; + + VideoCapture cap(0); // open the default camera + if(!cap.isOpened()) // check if we succeeded + return -1; + Mat edges; + namedWindow("edges",1); + for(;;) + { + Mat frame; + cap >> frame; // get a new frame from camera + cvtColor(frame, edges, CV_BGR2GRAY); + GaussianBlur(edges, edges, Size(7,7), 1.5, 1.5); + Canny(edges, edges, 0, 30, 3); + imshow("edges", edges); + if(waitKey(30) >= 0) break; + } + + cv::waitKey(0); + return 0; +/* + capture = cvCaptureFromCAM(0); + + if (!capture) { + + printf("Ouverture du flux vidéo impossible !\n"); + return 1; + + } + + cvNamedWindow("Test", CV_WINDOW_AUTOSIZE); + + while(1){ + image = cvQueryFrame(capture); + + cvShowImage("Test", image); + } + return 0; +*/ +} diff --git a/code/desktop.ini b/code/desktop.ini new file mode 100644 index 0000000..995bb2e --- /dev/null +++ b/code/desktop.ini @@ -0,0 +1,5 @@ +[.ShellClassInfo] +InfoTip=Ce dossier est partagé en ligne. +IconFile=C:\Program Files\Google\Drive\googledrivesync.exe +IconIndex=16 + \ No newline at end of file diff --git a/code/motor-control-serial.cpp b/code/motor-control-serial.cpp new file mode 100644 index 0000000..c017b2f --- /dev/null +++ b/code/motor-control-serial.cpp @@ -0,0 +1,69 @@ +#include "mbed.h" + +DigitalOut led2(P0_5); +DigitalOut led1(LED1); +PwmOut servo1(P2_5); +PwmOut servo2(P2_4); +//Serial pc(USBTX,USBRX); +Serial pc(USBTX,USBRX); +Thread mythread; + +void console_thread(){ + char buff[255]; + char *c0; + char *c; + int vals[3]; + int num=0; + //pc.printf("Ask for servos with XXX,YYY \n\r(where XXX and YYY are integers 1/1000 of 20ms)\n\r"); //Commented in RELEASE + + while (true) { + c0=buff; + c=buff; + for(num=0;num<2;){ + + *c=pc.getc(); // echo input back to terminal + pc.putc(*c); + if(*c == 'q') + break ; + if((*c == '\n') || (*c == '\r') || (*c == '\0') || (*c == ' ') || (*c == ',')) + { + // + *c='\0'; + vals[num]=atoi(c0); + c0=c+1; + num++; + } + c++; + } + float s_vals[2]; + int idx=0; + for(idx=0;idx<2;idx++){ + if(vals[idx]<0) vals[idx]=0; + if(vals[idx]>1000) vals[idx]=1000; + s_vals[idx]=vals[idx]*0.001; + } + servo1=s_vals[0]; + servo2=s_vals[1]; + + pc.printf("%d,%d \n",vals[0],vals[1]); + wait(0.5); + + + + } +} + +int main() { + mythread.start(console_thread); + int mystate=0; + servo1.period_ms(20); + servo2.period_ms(20); + while (true) { + led2 = !led2; + led1 = !led1; + mystate = !mystate; + wait(0.5); + } +} + +