AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.h@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 "mbed.h"
Nanaud 0:dc036b67c87c 2 #include "DRV8825.h"
Nanaud 0:dc036b67c87c 3
Nanaud 0:dc036b67c87c 4 #include "debug.h"
Nanaud 0:dc036b67c87c 5 #include "captUS.h"
Nanaud 0:dc036b67c87c 6 #include "motors.h"
Nanaud 0:dc036b67c87c 7 #include "codeurs.h"
Nanaud 0:dc036b67c87c 8 #include <string.h>
Nanaud 0:dc036b67c87c 9
Nanaud 0:dc036b67c87c 10 #define Lcmd 4
Nanaud 0:dc036b67c87c 11
Nanaud 0:dc036b67c87c 12 // Debug
Nanaud 0:dc036b67c87c 13 extern Serial pc;
Nanaud 0:dc036b67c87c 14 extern Ticker ticker_affUS;
Nanaud 0:dc036b67c87c 15 extern Ticker ticker_affcd;
Nanaud 0:dc036b67c87c 16 extern bool aff_US[6];
Nanaud 0:dc036b67c87c 17 extern bool aff_cd[4];
Nanaud 0:dc036b67c87c 18
Nanaud 0:dc036b67c87c 19 //Capteurs à ultrasons
Nanaud 0:dc036b67c87c 20 extern float us_out[6];
Nanaud 0:dc036b67c87c 21 extern Timer tps;
Nanaud 0:dc036b67c87c 22 extern Ticker ticker_US;
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 0:dc036b67c87c 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 long cpt_cdgA;
Nanaud 0:dc036b67c87c 38 extern long cpt_cdgB;
Nanaud 0:dc036b67c87c 39 extern InterruptIn cdgA;
Nanaud 0:dc036b67c87c 40 extern InterruptIn cdgB;
Nanaud 0:dc036b67c87c 41 extern long cpt_cddA;
Nanaud 0:dc036b67c87c 42 extern long cpt_cddB;
Nanaud 0:dc036b67c87c 43 extern InterruptIn cddA;
Nanaud 0:dc036b67c87c 44 extern InterruptIn cddB;