AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed DRV8825

pins.h

Committer:
Nanaud
Date:
2020-10-12
Revision:
19:c419033c0967
Parent:
14:dd3c756c6d48
Child:
20:7d206773f39e

File content as of revision 19:c419033c0967:

// Nom du fichier : pins.h
#include "mbed.h"
#include "DRV8825.h"

#include <string.h> 
#include <math.h>  
#include "debug.h"
#include "captUS.h"
#include "motors.h"
#include "odo_asserv.h"

// #define
//#define Pi 3.14159265359
#define _PI_ 3.14159265359
//#define NbPulseCodeur 1000
//#define ecartCodeuse 245 // Distance en mm entre les deux roues codeuses
#define diametreRoueCodeuse 51.450 // Diamètre de la roue codeuse en mm
#define perimetreRoueCodeuse (diametreRoueCodeuse * Pi)
#define vitesseSAT 0.250 // m/s 
#define perimetreE Pi*ecartCodeuse

extern InterruptIn btn;
//extern InterruptIn cordon;

//Capteurs à ultrasons
extern DigitalOut trigger;
extern InterruptIn echo1;
extern InterruptIn echo2;
extern InterruptIn echo3;
extern InterruptIn echo4;
extern InterruptIn echo5;
extern InterruptIn echo6;

// Drivers DRV8825 
//extern BusOut mode;
extern DigitalOut mode_M0;
//extern DigitalOut mode_M1;
//extern DigitalOut mode_M2;
extern DRV8825 drvGauche; 
extern DRV8825 drvDroite; 

// Codeurs
extern InterruptIn cdgA;
extern DigitalIn cdgB;
extern InterruptIn cddA;
extern DigitalIn cddB;