AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
captUS.h@16:4c0b1647e8ae, 2020-10-13 (annotated)
- Committer:
- g0dd4
- Date:
- Tue Oct 13 14:50:31 2020 +0000
- Revision:
- 16:4c0b1647e8ae
- Parent:
- 15:43f5bda97488
Conversion du temps en distance ; Detection d'un obstacle; Changement de base; Test_fonctionnelle ;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
g0dd4 | 16:4c0b1647e8ae | 1 | #ifndef CAPTUS_H |
g0dd4 | 16:4c0b1647e8ae | 2 | #define CAPTUS_H |
g0dd4 | 16:4c0b1647e8ae | 3 | #include "mbed.h" |
g0dd4 | 16:4c0b1647e8ae | 4 | #include "math.h" |
g0dd4 | 16:4c0b1647e8ae | 5 | |
Nanaud | 1:2fe8c402ee79 | 6 | // Nom du fichier : captUS.h |
g0dd4 | 16:4c0b1647e8ae | 7 | #define LONGUEUR_TAB 2000 |
g0dd4 | 16:4c0b1647e8ae | 8 | #define LARGEUR_TAB 3000 |
g0dd4 | 16:4c0b1647e8ae | 9 | #define _PI_ 3.14159265359 |
g0dd4 | 16:4c0b1647e8ae | 10 | #define THETA 60 |
Nanaud | 0:dc036b67c87c | 11 | |
Nanaud | 1:2fe8c402ee79 | 12 | // extern |
Nanaud | 1:2fe8c402ee79 | 13 | extern float us_out[6]; |
Nanaud | 1:2fe8c402ee79 | 14 | extern Timer tps; |
Nanaud | 1:2fe8c402ee79 | 15 | extern Ticker ticker_US; |
Nanaud | 1:2fe8c402ee79 | 16 | |
Nanaud | 1:2fe8c402ee79 | 17 | // Prototypes |
Nanaud | 1:2fe8c402ee79 | 18 | void captUS_trig(); |
Nanaud | 1:2fe8c402ee79 | 19 | void captUS_init(); |
Nanaud | 0:dc036b67c87c | 20 | |
Nanaud | 0:dc036b67c87c | 21 | void echoRise1(); |
Nanaud | 0:dc036b67c87c | 22 | void echoFall1(); |
Nanaud | 0:dc036b67c87c | 23 | void echoRise2(); |
Nanaud | 0:dc036b67c87c | 24 | void echoFall2(); |
Nanaud | 0:dc036b67c87c | 25 | void echoRise3(); |
Nanaud | 0:dc036b67c87c | 26 | void echoFall3(); |
Nanaud | 0:dc036b67c87c | 27 | void echoRise4(); |
Nanaud | 0:dc036b67c87c | 28 | void echoFall4(); |
Nanaud | 0:dc036b67c87c | 29 | void echoRise5(); |
Nanaud | 0:dc036b67c87c | 30 | void echoFall5(); |
Nanaud | 0:dc036b67c87c | 31 | void echoRise6(); |
g0dd4 | 15:43f5bda97488 | 32 | void echoFall6(); |
g0dd4 | 15:43f5bda97488 | 33 | |
g0dd4 | 15:43f5bda97488 | 34 | /********************************** |
g0dd4 | 15:43f5bda97488 | 35 | * Création d'une fonction qui * |
g0dd4 | 15:43f5bda97488 | 36 | * convertis le temps en distance * |
g0dd4 | 15:43f5bda97488 | 37 | **********************************/ |
g0dd4 | 16:4c0b1647e8ae | 38 | float* convertToDistance(); |
g0dd4 | 16:4c0b1647e8ae | 39 | |
g0dd4 | 16:4c0b1647e8ae | 40 | |
g0dd4 | 16:4c0b1647e8ae | 41 | /******************************************** |
g0dd4 | 16:4c0b1647e8ae | 42 | * nous permet de placer l'origine au coins * |
g0dd4 | 16:4c0b1647e8ae | 43 | * de la table * |
g0dd4 | 16:4c0b1647e8ae | 44 | ********************************************/ |
g0dd4 | 16:4c0b1647e8ae | 45 | void changementBase(double* x_detect, double* y_detect); |
g0dd4 | 16:4c0b1647e8ae | 46 | |
g0dd4 | 16:4c0b1647e8ae | 47 | /******************************************* |
g0dd4 | 16:4c0b1647e8ae | 48 | * nous permet de détecter un obstacle * |
g0dd4 | 16:4c0b1647e8ae | 49 | * * |
g0dd4 | 16:4c0b1647e8ae | 50 | * false : personne | true : quelquechoses * |
g0dd4 | 16:4c0b1647e8ae | 51 | *******************************************/ |
g0dd4 | 16:4c0b1647e8ae | 52 | bool obstacleSpoted(float dist,double x_robot,double y_robot ,double phi, char I_theta); |
g0dd4 | 16:4c0b1647e8ae | 53 | |
g0dd4 | 16:4c0b1647e8ae | 54 | |
g0dd4 | 16:4c0b1647e8ae | 55 | |
g0dd4 | 16:4c0b1647e8ae | 56 | |
g0dd4 | 16:4c0b1647e8ae | 57 | #endif // CAPTUS_H |