AresENSEA-CDF2020
/
AresCDFMainCode
Code principal du projet
pins.h@2:094c09903a9c, 2020-07-09 (annotated)
- Committer:
- Nanaud
- Date:
- Thu Jul 09 21:03:01 2020 +0000
- Revision:
- 2:094c09903a9c
- Parent:
- 1:2fe8c402ee79
- Child:
- 4:ad9b7355332e
Debut du code pour l'odometrie
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nanaud | 1:2fe8c402ee79 | 1 | // Nom du fichier : pins.h |
Nanaud | 0:dc036b67c87c | 2 | #include "mbed.h" |
Nanaud | 0:dc036b67c87c | 3 | #include "DRV8825.h" |
Nanaud | 0:dc036b67c87c | 4 | |
Nanaud | 2:094c09903a9c | 5 | #include <string.h> |
Nanaud | 2:094c09903a9c | 6 | #include <math.h> |
Nanaud | 0:dc036b67c87c | 7 | #include "debug.h" |
Nanaud | 0:dc036b67c87c | 8 | #include "captUS.h" |
Nanaud | 0:dc036b67c87c | 9 | #include "motors.h" |
Nanaud | 2:094c09903a9c | 10 | #include "codeurs.h" |
Nanaud | 2:094c09903a9c | 11 | #include "odo_asserv.h" |
Nanaud | 0:dc036b67c87c | 12 | |
Nanaud | 0:dc036b67c87c | 13 | //Capteurs à ultrasons |
Nanaud | 0:dc036b67c87c | 14 | extern DigitalOut trigger; |
Nanaud | 0:dc036b67c87c | 15 | extern InterruptIn echo1; |
Nanaud | 0:dc036b67c87c | 16 | extern InterruptIn echo2; |
Nanaud | 0:dc036b67c87c | 17 | extern InterruptIn echo3; |
Nanaud | 0:dc036b67c87c | 18 | extern InterruptIn echo4; |
Nanaud | 0:dc036b67c87c | 19 | extern InterruptIn echo5; |
Nanaud | 0:dc036b67c87c | 20 | extern InterruptIn echo6; |
Nanaud | 0:dc036b67c87c | 21 | |
Nanaud | 0:dc036b67c87c | 22 | // Drivers DRV8825 |
Nanaud | 0:dc036b67c87c | 23 | extern BusOut MODE; |
Nanaud | 0:dc036b67c87c | 24 | extern DRV8825 drvGauche; |
Nanaud | 0:dc036b67c87c | 25 | extern DRV8825 drvDroite; |
Nanaud | 0:dc036b67c87c | 26 | |
Nanaud | 0:dc036b67c87c | 27 | // Codeurs |
Nanaud | 0:dc036b67c87c | 28 | extern InterruptIn cdgA; |
Nanaud | 0:dc036b67c87c | 29 | extern InterruptIn cdgB; |
Nanaud | 0:dc036b67c87c | 30 | extern InterruptIn cddA; |
Nanaud | 0:dc036b67c87c | 31 | extern InterruptIn cddB; |