AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.h@16:4c0b1647e8ae, 2020-10-13 (annotated)

Committer:
g0dd4
Date:
Tue Oct 13 14:50:31 2020 +0000
Revision:
16:4c0b1647e8ae
Parent:
14:dd3c756c6d48 
Conversion du temps en distance ; Detection d'un obstacle; Changement de base; Test_fonctionnelle ;

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 "odo_asserv.h"
Nanaud 0:dc036b67c87c 11
Nanaud 5:34ed652f8c31 12 // #define
Nanaud 14:dd3c756c6d48 13 //#define Pi 3.14159265359
Nanaud 14:dd3c756c6d48 14 #define _PI_ 3.14159265359
Nanaud 10:0714feaaaee1 15 //#define NbPulseCodeur 1000
Nanaud 10:0714feaaaee1 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 10:0714feaaaee1 19 #define vitesseSAT 0.250 // m/s
Nanaud 5:34ed652f8c31 20 #define perimetreE Pi*ecartCodeuse
Nanaud 5:34ed652f8c31 21
Nanaud 6:ea6b30c4bb01 22 extern InterruptIn btn;
Nanaud 6:ea6b30c4bb01 23
Nanaud 0:dc036b67c87c 24 //Capteurs à ultrasons
Nanaud 0:dc036b67c87c 25 extern DigitalOut trigger;
Nanaud 0:dc036b67c87c 26 extern InterruptIn echo1;
Nanaud 0:dc036b67c87c 27 extern InterruptIn echo2;
Nanaud 0:dc036b67c87c 28 extern InterruptIn echo3;
Nanaud 0:dc036b67c87c 29 extern InterruptIn echo4;
Nanaud 0:dc036b67c87c 30 extern InterruptIn echo5;
Nanaud 0:dc036b67c87c 31 extern InterruptIn echo6;
Nanaud 0:dc036b67c87c 32
Nanaud 0:dc036b67c87c 33 // Drivers DRV8825
Nanaud 10:0714feaaaee1 34 //extern BusOut mode;
Nanaud 10:0714feaaaee1 35 extern DigitalOut mode_M0;
Nanaud 10:0714feaaaee1 36 //extern DigitalOut mode_M1;
Nanaud 10:0714feaaaee1 37 //extern DigitalOut mode_M2;
Nanaud 0:dc036b67c87c 38 extern DRV8825 drvGauche;
Nanaud 0:dc036b67c87c 39 extern DRV8825 drvDroite;
Nanaud 0:dc036b67c87c 40
Nanaud 0:dc036b67c87c 41 // Codeurs
Nanaud 0:dc036b67c87c 42 extern InterruptIn cdgA;
Nanaud 5:34ed652f8c31 43 extern DigitalIn cdgB;
Nanaud 0:dc036b67c87c 44 extern InterruptIn cddA;
Nanaud 5:34ed652f8c31 45 extern DigitalIn cddB;