AresENSEA-CDF2020
/
AresCDFMainCode
Code principal du projet
pins.h@20:7d206773f39e, 2020-10-20 (annotated)
- Committer:
- Nanaud
- Date:
- Tue Oct 20 17:53:32 2020 +0000
- Revision:
- 20:7d206773f39e
- Parent:
- 19:c419033c0967
- Child:
- 22:f891c2bce091
Fonctionnel, detection a ameliorer
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 "odo_asserv.h" |
Nanaud | 20:7d206773f39e | 11 | #include "Flag.h" |
Nanaud | 0:dc036b67c87c | 12 | |
Nanaud | 5:34ed652f8c31 | 13 | // #define |
Nanaud | 14:dd3c756c6d48 | 14 | //#define Pi 3.14159265359 |
Nanaud | 14:dd3c756c6d48 | 15 | #define _PI_ 3.14159265359 |
Nanaud | 10:0714feaaaee1 | 16 | //#define NbPulseCodeur 1000 |
Nanaud | 10:0714feaaaee1 | 17 | //#define ecartCodeuse 245 // Distance en mm entre les deux roues codeuses |
Nanaud | 5:34ed652f8c31 | 18 | #define diametreRoueCodeuse 51.450 // Diamètre de la roue codeuse en mm |
Nanaud | 5:34ed652f8c31 | 19 | #define perimetreRoueCodeuse (diametreRoueCodeuse * Pi) |
Nanaud | 10:0714feaaaee1 | 20 | #define vitesseSAT 0.250 // m/s |
Nanaud | 5:34ed652f8c31 | 21 | #define perimetreE Pi*ecartCodeuse |
Nanaud | 5:34ed652f8c31 | 22 | |
Nanaud | 6:ea6b30c4bb01 | 23 | extern InterruptIn btn; |
Nanaud | 20:7d206773f39e | 24 | //extern DigitalOut myled; |
Nanaud | 20:7d206773f39e | 25 | //extern DigitalIn cordon; |
Nanaud | 6:ea6b30c4bb01 | 26 | |
Nanaud | 0:dc036b67c87c | 27 | //Capteurs à ultrasons |
Nanaud | 0:dc036b67c87c | 28 | extern DigitalOut trigger; |
Nanaud | 0:dc036b67c87c | 29 | extern InterruptIn echo1; |
Nanaud | 0:dc036b67c87c | 30 | extern InterruptIn echo2; |
Nanaud | 0:dc036b67c87c | 31 | extern InterruptIn echo3; |
Nanaud | 0:dc036b67c87c | 32 | extern InterruptIn echo4; |
Nanaud | 0:dc036b67c87c | 33 | extern InterruptIn echo5; |
Nanaud | 0:dc036b67c87c | 34 | extern InterruptIn echo6; |
Nanaud | 0:dc036b67c87c | 35 | |
Nanaud | 0:dc036b67c87c | 36 | // Drivers DRV8825 |
Nanaud | 10:0714feaaaee1 | 37 | //extern BusOut mode; |
Nanaud | 10:0714feaaaee1 | 38 | extern DigitalOut mode_M0; |
Nanaud | 10:0714feaaaee1 | 39 | //extern DigitalOut mode_M1; |
Nanaud | 10:0714feaaaee1 | 40 | //extern DigitalOut mode_M2; |
Nanaud | 0:dc036b67c87c | 41 | extern DRV8825 drvGauche; |
Nanaud | 0:dc036b67c87c | 42 | extern DRV8825 drvDroite; |
Nanaud | 0:dc036b67c87c | 43 | |
Nanaud | 0:dc036b67c87c | 44 | // Codeurs |
Nanaud | 0:dc036b67c87c | 45 | extern InterruptIn cdgA; |
Nanaud | 5:34ed652f8c31 | 46 | extern DigitalIn cdgB; |
Nanaud | 0:dc036b67c87c | 47 | extern InterruptIn cddA; |
Nanaud | 5:34ed652f8c31 | 48 | extern DigitalIn cddB; |