AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode

Code principal du projet

Dependencies:   mbed DRV8825

pins.cpp@26:bb2b778bd351, 2020-11-03 (annotated)

Committer:
Nanaud
Date:
Tue Nov 03 16:29:13 2020 +0000
Revision:
26:bb2b778bd351
Parent:
22:f891c2bce091 
UI

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 22:f891c2bce091 1 /* #include */
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 22:f891c2bce091 4 DigitalOut Led(LED1); // LED allumée pendant le stand-by
Nanaud 22:f891c2bce091 5 DigitalIn Tirette(PC_8);
Nanaud 22:f891c2bce091 6 InterruptIn BtnBlue(PC_13);
Nanaud 26:bb2b778bd351 7 DigitalIn SwitchStrategie(PC_11);
Nanaud 6:ea6b30c4bb01 8
Nanaud 22:f891c2bce091 9 /* Capteurs à ultrasons */
Nanaud 0:dc036b67c87c 10 DigitalOut trigger(PB_9);
Nanaud 0:dc036b67c87c 11 InterruptIn echo1(PA_11);
Nanaud 0:dc036b67c87c 12 InterruptIn echo2(PB_12);
Nanaud 0:dc036b67c87c 13 InterruptIn echo3(PB_2);
Nanaud 0:dc036b67c87c 14 InterruptIn echo4(PB_1);
Nanaud 0:dc036b67c87c 15 InterruptIn echo5(PB_15);
Nanaud 0:dc036b67c87c 16 InterruptIn echo6(PB_14);
Nanaud 0:dc036b67c87c 17
Nanaud 22:f891c2bce091 18 /* Drivers DRV8825 */
Nanaud 0:dc036b67c87c 19 #define STEP1 PA_6
Nanaud 0:dc036b67c87c 20 #define STEP2 PB_6
Nanaud 0:dc036b67c87c 21 #define DIR1 PC_2
Nanaud 10:0714feaaaee1 22 #define DIR2 PC_3
Nanaud 10:0714feaaaee1 23 #define EN1 PA_15
Nanaud 10:0714feaaaee1 24 #define EN2 PA_14
Nanaud 16:ae65ce77b1f9 25 #define diametreRoue 51.45
Nanaud 5:34ed652f8c31 26 #define rayonRoue (diametreRoue/2)
Nanaud 22:f891c2bce091 27 #define nbPas 6400
Nanaud 10:0714feaaaee1 28 DigitalOut mode_M0(PB_7);
Nanaud 10:0714feaaaee1 29 //DigitalOut mode_M1(PC_13); // Inutile
Nanaud 10:0714feaaaee1 30 //DigitalOut mode_M2(PC_14); // Hardware
Nanaud 22:f891c2bce091 31 DRV8825 drvGauche(EN1,DIR1,STEP1,rayonRoue,nbPas);
Nanaud 22:f891c2bce091 32 DRV8825 drvDroite(EN2,DIR2,STEP2,rayonRoue,nbPas);
Nanaud 0:dc036b67c87c 33
Nanaud 22:f891c2bce091 34 /* Codeurs (Réf : LPJ3806-1000BM-G5-24E) */
Nanaud 1:2fe8c402ee79 35 InterruptIn cdgA(PA_8); // Codeur de gauche
Nanaud 5:34ed652f8c31 36 DigitalIn cdgB(PA_9);
Nanaud 1:2fe8c402ee79 37 InterruptIn cddA(PA_0); // Codeur de droite
Nanaud 5:34ed652f8c31 38 DigitalIn cddB(PA_1);