AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.cpp@0:dc036b67c87c, 2020-07-08 (annotated)

Committer:
Nanaud
Date:
Wed Jul 08 19:51:28 2020 +0000
Revision:
0:dc036b67c87c
Child:
1:2fe8c402ee79
Code principal du projet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 0:dc036b67c87c 1 #include "pins.h"
Nanaud 0:dc036b67c87c 2
Nanaud 0:dc036b67c87c 3 // Debug
Nanaud 0:dc036b67c87c 4 Serial pc(USBTX, USBRX);
Nanaud 0:dc036b67c87c 5 Ticker ticker_affUS;
Nanaud 0:dc036b67c87c 6 Ticker ticker_affcd;
Nanaud 0:dc036b67c87c 7 bool aff_US[6];
Nanaud 0:dc036b67c87c 8 bool aff_cd[4];
Nanaud 0:dc036b67c87c 9
Nanaud 0:dc036b67c87c 10
Nanaud 0:dc036b67c87c 11 // Capteurs à ultrasons
Nanaud 0:dc036b67c87c 12 float us_out[6];
Nanaud 0:dc036b67c87c 13 Timer tps;
Nanaud 0:dc036b67c87c 14 Ticker ticker_US;
Nanaud 0:dc036b67c87c 15 DigitalOut trigger(PB_9);
Nanaud 0:dc036b67c87c 16 InterruptIn echo1(PA_11);
Nanaud 0:dc036b67c87c 17 InterruptIn echo2(PB_12);
Nanaud 0:dc036b67c87c 18 InterruptIn echo3(PB_2);
Nanaud 0:dc036b67c87c 19 InterruptIn echo4(PB_1);
Nanaud 0:dc036b67c87c 20 InterruptIn echo5(PB_15);
Nanaud 0:dc036b67c87c 21 InterruptIn echo6(PB_14);
Nanaud 0:dc036b67c87c 22
Nanaud 0:dc036b67c87c 23
Nanaud 0:dc036b67c87c 24 // Drivers DRV8825
Nanaud 0:dc036b67c87c 25 //LSB //MSB
Nanaud 0:dc036b67c87c 26 BusOut MODE(PB_0, PC_1, PC_0);
Nanaud 0:dc036b67c87c 27 #define STEP1 PA_6
Nanaud 0:dc036b67c87c 28 #define STEP2 PB_6
Nanaud 0:dc036b67c87c 29 #define DIR1 PC_2
Nanaud 0:dc036b67c87c 30 #define DIR2 PH_1
Nanaud 0:dc036b67c87c 31 #define EN PC_3
Nanaud 0:dc036b67c87c 32 DRV8825 drvGauche(EN,DIR1,STEP1);
Nanaud 0:dc036b67c87c 33 DRV8825 drvDroite(EN,DIR2,STEP2);
Nanaud 0:dc036b67c87c 34
Nanaud 0:dc036b67c87c 35
Nanaud 0:dc036b67c87c 36 // Codeurs LPJ3806-1000BM-G5-24E
Nanaud 0:dc036b67c87c 37 long cpt_cdgA=0;
Nanaud 0:dc036b67c87c 38 long cpt_cdgB=0;
Nanaud 0:dc036b67c87c 39 InterruptIn cdgA(PA_8);
Nanaud 0:dc036b67c87c 40 InterruptIn cdgB(PA_9);
Nanaud 0:dc036b67c87c 41 long cpt_cddA=0;
Nanaud 0:dc036b67c87c 42 long cpt_cddB=0;
Nanaud 0:dc036b67c87c 43 InterruptIn cddA(PA_0);
Nanaud 0:dc036b67c87c 44 InterruptIn cddB(PA_1);