void VerifObstacleUS()
{
if(Distance_Obstacle_Av < 10)
{
while(Distance_Obstacle_Av < 10 )
{
Robot_Commande(-100, 0); //Recule
}
}
else if(Distance_Obstacle_Av > 10 && Distance_Obstacle_Av < 15)
{
Robot_Commande(0, 0); //Stop
//Scan
Servo_Position(US_AVANT, 0); //Scan tout a gauche
Servo_Position(US_AVANT, 48); //Scan millieu
Servo_Position(US_AVANT, 60); //Scan tout a droite
//Décisions
//
//
}
}
void IO_Init(void){
/* configure HSI as System Clock */
SystemCoreClockInit();
SystemCoreClockUpdate();
SysTick_Config(SystemCoreClock / 1000); // SysTick 1 msec interrupts
/* Port initializations */
GPIO_Output_Init(GPIOA,Green_LED); //LD2 Initialization
Button_Initialize(); //User button init
/* Serial Communications Initializations */
SER_Initialize();
USART1_Init(); /* For the GPS */
LPUART_Init(); /* For XBee */
/* ADC Initializations */
ADC_Init();
/* I2C Initialization */
I2C_Init();
/* Mems board Initialization */
ISK01A1_Init();
/* GPS Initialization with 1 second refresh rate */
FGPMMOPA6H_Init(4);
/* XBee Initialization */
/* Note that setup takes 2 seconds due to 1 second delays required
* By the XBee AT command Sequence
*/
XBee_900HP_Init(); //Used with long distance 900 MHz XBee
// XBee_ProS1_Init(); //Used with 2.4 GHz Xbee
/*Position the servo*/
Servo_Position(0);
}
