AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.cpp@10:0714feaaaee1, 2020-09-11 (annotated)

Committer:
Nanaud
Date:
Fri Sep 11 10:56:08 2020 +0000
Revision:
10:0714feaaaee1
Parent:
6:ea6b30c4bb01 
11.09.20

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 6:ea6b30c4bb01 5
Nanaud 0:dc036b67c87c 6 // Capteurs à ultrasons
Nanaud 0:dc036b67c87c 7 DigitalOut trigger(PB_9);
Nanaud 0:dc036b67c87c 8 InterruptIn echo1(PA_11);
Nanaud 0:dc036b67c87c 9 InterruptIn echo2(PB_12);
Nanaud 0:dc036b67c87c 10 InterruptIn echo3(PB_2);
Nanaud 0:dc036b67c87c 11 InterruptIn echo4(PB_1);
Nanaud 0:dc036b67c87c 12 InterruptIn echo5(PB_15);
Nanaud 0:dc036b67c87c 13 InterruptIn echo6(PB_14);
Nanaud 0:dc036b67c87c 14
Nanaud 0:dc036b67c87c 15 // Drivers DRV8825
Nanaud 0:dc036b67c87c 16 #define STEP1 PA_6
Nanaud 0:dc036b67c87c 17 #define STEP2 PB_6
Nanaud 0:dc036b67c87c 18 #define DIR1 PC_2
Nanaud 10:0714feaaaee1 19 #define DIR2 PC_3
Nanaud 10:0714feaaaee1 20 #define EN1 PA_15
Nanaud 10:0714feaaaee1 21 #define EN2 PA_14
Nanaud 5:34ed652f8c31 22 #define diametreRoue 72 //51.45
Nanaud 5:34ed652f8c31 23 #define rayonRoue (diametreRoue/2)
Nanaud 5:34ed652f8c31 24 #define nbPas 6400 //1000
Nanaud 10:0714feaaaee1 25 //BusOut mode(PB_7, PC_13, PC_14); // LSB ... MSB
Nanaud 10:0714feaaaee1 26 DigitalOut mode_M0(PB_7);
Nanaud 10:0714feaaaee1 27 //DigitalOut mode_M1(PC_13); // Inutile
Nanaud 10:0714feaaaee1 28 //DigitalOut mode_M2(PC_14); // Hardware
Nanaud 10:0714feaaaee1 29 DRV8825 drvGauche(EN1,DIR1,STEP1,rayonRoue,nbPas);
Nanaud 10:0714feaaaee1 30 DRV8825 drvDroite(EN2,DIR2,STEP2,rayonRoue,nbPas);
Nanaud 0:dc036b67c87c 31
Nanaud 1:2fe8c402ee79 32 // Codeurs (Réf : LPJ3806-1000BM-G5-24E)
Nanaud 1:2fe8c402ee79 33 InterruptIn cdgA(PA_8); // Codeur de gauche
Nanaud 5:34ed652f8c31 34 DigitalIn cdgB(PA_9);
Nanaud 1:2fe8c402ee79 35 InterruptIn cddA(PA_0); // Codeur de droite
Nanaud 5:34ed652f8c31 36 DigitalIn cddB(PA_1);