AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode

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Dependencies:   mbed DRV8825

pins.cpp@19:c419033c0967, 2020-10-12 (annotated)

Committer:
Nanaud
Date:
Mon Oct 12 19:17:40 2020 +0000
Revision:
19:c419033c0967
Parent:
16:ae65ce77b1f9
Child:
20:7d206773f39e
Dernieres modifs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 1:2fe8c402ee79 1 // Nom du fichier : pins.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 6:ea6b30c4bb01 4 InterruptIn btn(PC_13);
Nanaud 19:c419033c0967 5 //InterruptIn cordon(PC_8);
Nanaud 6:ea6b30c4bb01 6
Nanaud 0:dc036b67c87c 7 // Capteurs à ultrasons
Nanaud 0:dc036b67c87c 8 DigitalOut trigger(PB_9);
Nanaud 0:dc036b67c87c 9 InterruptIn echo1(PA_11);
Nanaud 0:dc036b67c87c 10 InterruptIn echo2(PB_12);
Nanaud 0:dc036b67c87c 11 InterruptIn echo3(PB_2);
Nanaud 0:dc036b67c87c 12 InterruptIn echo4(PB_1);
Nanaud 0:dc036b67c87c 13 InterruptIn echo5(PB_15);
Nanaud 0:dc036b67c87c 14 InterruptIn echo6(PB_14);
Nanaud 0:dc036b67c87c 15
Nanaud 0:dc036b67c87c 16 // Drivers DRV8825
Nanaud 0:dc036b67c87c 17 #define STEP1 PA_6
Nanaud 0:dc036b67c87c 18 #define STEP2 PB_6
Nanaud 0:dc036b67c87c 19 #define DIR1 PC_2
Nanaud 10:0714feaaaee1 20 #define DIR2 PC_3
Nanaud 10:0714feaaaee1 21 #define EN1 PA_15
Nanaud 10:0714feaaaee1 22 #define EN2 PA_14
Nanaud 16:ae65ce77b1f9 23 #define diametreRoue 51.45
Nanaud 5:34ed652f8c31 24 #define rayonRoue (diametreRoue/2)
Nanaud 5:34ed652f8c31 25 #define nbPas 6400 //1000
Nanaud 10:0714feaaaee1 26 //BusOut mode(PB_7, PC_13, PC_14); // LSB ... MSB
Nanaud 10:0714feaaaee1 27 DigitalOut mode_M0(PB_7);
Nanaud 10:0714feaaaee1 28 //DigitalOut mode_M1(PC_13); // Inutile
Nanaud 10:0714feaaaee1 29 //DigitalOut mode_M2(PC_14); // Hardware
Nanaud 10:0714feaaaee1 30 DRV8825 drvGauche(EN1,DIR1,STEP1,rayonRoue,nbPas);
Nanaud 10:0714feaaaee1 31 DRV8825 drvDroite(EN2,DIR2,STEP2,rayonRoue,nbPas);
Nanaud 0:dc036b67c87c 32
Nanaud 1:2fe8c402ee79 33 // Codeurs (Réf : LPJ3806-1000BM-G5-24E)
Nanaud 1:2fe8c402ee79 34 InterruptIn cdgA(PA_8); // Codeur de gauche
Nanaud 5:34ed652f8c31 35 DigitalIn cdgB(PA_9);
Nanaud 1:2fe8c402ee79 36 InterruptIn cddA(PA_0); // Codeur de droite
Nanaud 5:34ed652f8c31 37 DigitalIn cddB(PA_1);