AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode

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Dependencies:   mbed DRV8825

pins.h

Committer:
Nanaud
Date:
2020-07-08
Revision:
0:dc036b67c87c
Child:
1:2fe8c402ee79

File content as of revision 0:dc036b67c87c:

#include "mbed.h"
#include "DRV8825.h"

#include "debug.h"
#include "captUS.h"
#include "motors.h"
#include "codeurs.h"
#include <string.h>      

#define Lcmd 4

// Debug
extern Serial pc;
extern Ticker ticker_affUS;
extern Ticker ticker_affcd;
extern bool aff_US[6];
extern bool aff_cd[4];

//Capteurs à ultrasons
extern float us_out[6];
extern Timer tps;
extern Ticker ticker_US;
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 DRV8825 drvGauche; 
extern DRV8825 drvDroite; 

// Codeurs
extern long cpt_cdgA;
extern long cpt_cdgB;
extern InterruptIn cdgA;
extern InterruptIn cdgB;
extern long cpt_cddA;
extern long cpt_cddB;
extern InterruptIn cddA;
extern InterruptIn cddB;