AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode

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Dependencies:   mbed DRV8825

pins.h

Committer:
Nanaud
Date:
2020-07-26
Revision:
6:ea6b30c4bb01
Parent:
5:34ed652f8c31
Child:
10:0714feaaaee1

File content as of revision 6:ea6b30c4bb01:

// 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 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 vtSAT 0.250 // m/s 
#define perimetreE Pi*ecartCodeuse

extern InterruptIn btn;

//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 DRV8825 drvGauche; 
extern DRV8825 drvDroite; 

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