AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.h@5:34ed652f8c31, 2020-07-21 (annotated)

Committer:
Nanaud
Date:
Tue Jul 21 19:33:38 2020 +0000
Revision:
5:34ed652f8c31
Parent:
4:ad9b7355332e
Child:
6:ea6b30c4bb01
Commande Bluetooth test moteur

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 1:2fe8c402ee79 1 // Nom du fichier : pins.h
Nanaud 0:dc036b67c87c 2 #include "mbed.h"
Nanaud 0:dc036b67c87c 3 #include "DRV8825.h"
Nanaud 0:dc036b67c87c 4
Nanaud 2:094c09903a9c 5 #include <string.h>
Nanaud 2:094c09903a9c 6 #include <math.h>
Nanaud 0:dc036b67c87c 7 #include "debug.h"
Nanaud 0:dc036b67c87c 8 #include "captUS.h"
Nanaud 0:dc036b67c87c 9 #include "motors.h"
Nanaud 2:094c09903a9c 10 #include "codeurs.h"
Nanaud 2:094c09903a9c 11 #include "odo_asserv.h"
Nanaud 0:dc036b67c87c 12
Nanaud 5:34ed652f8c31 13 // #define
Nanaud 5:34ed652f8c31 14 #define Pi 3.14159265359
Nanaud 5:34ed652f8c31 15 #define NbPulseCodeur 1000
Nanaud 5:34ed652f8c31 16 #define ecartCodeuse 245 // Distance en mm entre les deux roues codeuses
Nanaud 5:34ed652f8c31 17 #define diametreRoueCodeuse 51.450 // Diamètre de la roue codeuse en mm
Nanaud 5:34ed652f8c31 18 #define perimetreRoueCodeuse (diametreRoueCodeuse * Pi)
Nanaud 5:34ed652f8c31 19 #define vtSAT 0.250 // m/s
Nanaud 5:34ed652f8c31 20 #define perimetreE Pi*ecartCodeuse
Nanaud 5:34ed652f8c31 21
Nanaud 0:dc036b67c87c 22 //Capteurs à ultrasons
Nanaud 0:dc036b67c87c 23 extern DigitalOut trigger;
Nanaud 0:dc036b67c87c 24 extern InterruptIn echo1;
Nanaud 0:dc036b67c87c 25 extern InterruptIn echo2;
Nanaud 0:dc036b67c87c 26 extern InterruptIn echo3;
Nanaud 0:dc036b67c87c 27 extern InterruptIn echo4;
Nanaud 0:dc036b67c87c 28 extern InterruptIn echo5;
Nanaud 0:dc036b67c87c 29 extern InterruptIn echo6;
Nanaud 0:dc036b67c87c 30
Nanaud 0:dc036b67c87c 31 // Drivers DRV8825
Nanaud 4:ad9b7355332e 32 extern BusOut mode;
Nanaud 0:dc036b67c87c 33 extern DRV8825 drvGauche;
Nanaud 0:dc036b67c87c 34 extern DRV8825 drvDroite;
Nanaud 0:dc036b67c87c 35
Nanaud 0:dc036b67c87c 36 // Codeurs
Nanaud 0:dc036b67c87c 37 extern InterruptIn cdgA;
Nanaud 5:34ed652f8c31 38 extern DigitalIn cdgB;
Nanaud 0:dc036b67c87c 39 extern InterruptIn cddA;
Nanaud 5:34ed652f8c31 40 extern DigitalIn cddB;