ARES / Mbed 2 deprecated Robot2016_2-0

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Dependencies:   RoboClaw mbed StepperMotor

Fork of RoboClaw by Simon Emarre

Functions/func.h

Committer:
sype
Date:
2016-04-13
Revision:
45:b53ae54062c6
Parent:
44:b1fd7489369f
Child:
46:5658af4e5149
Child:
47:be4eebf40568

File content as of revision 45:b53ae54062c6:

#ifndef FUNC_H
#define FUNC_H

#include "mbed.h"
#include "../RoboClaw/RoboClaw.h"
#include "../Odometry/Odometry.h"
#include "../StepperMotor/Stepper.h"
#include "Map/Map.h"
#include "AX12.h"

#define SEUIL 0.25
#define dt 10000

extern Serial logger;
extern RoboClaw roboclaw;
extern DigitalOut bleu;
extern DigitalOut blanc;
extern DigitalOut rouge;
extern Stepper RMot;
extern Stepper ZMot;
extern Stepper LMot;
extern AnalogIn capt1;
extern AnalogIn capt2;
extern AnalogIn capt3;
extern InterruptIn mybutton;
extern InterruptIn EndR;
extern InterruptIn EndZ;
extern InterruptIn EndL;
extern AX12 left_hand;
extern AX12 right_hand;
extern Ticker ticker;
extern Odometry odo;

extern int i, state;
extern bool EL, EZ, ER;

void ELpressed(void);
void ELunpressed(void);
void EZpressed(void);
void EZunpressed(void);
void ERpressed(void);
void ERunpressed(void);

void pressed(void);
void unpressed(void);
void JPO(void);

void init_ax12(void);
void init_interrupt(void);
void goHome(void);
void checkAround(void);
void update_main(void);

#endif