AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.cpp@6:ea6b30c4bb01, 2020-07-26 (annotated)

Committer:
Nanaud
Date:
Sun Jul 26 09:24:31 2020 +0000
Revision:
6:ea6b30c4bb01
Parent:
5:34ed652f8c31
Child:
10:0714feaaaee1
Fusion des fichiers codeurs et odo_asserv

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nanaud 1:2fe8c402ee79 1 // Nom du fichier : pins.cpp
Nanaud 0:dc036b67c87c 2 #include "pins.h"
Nanaud 0:dc036b67c87c 3
Nanaud 6:ea6b30c4bb01 4 InterruptIn btn(PC_13);
Nanaud 6:ea6b30c4bb01 5
Nanaud 0:dc036b67c87c 6 // Capteurs à ultrasons
Nanaud 0:dc036b67c87c 7 DigitalOut trigger(PB_9);
Nanaud 0:dc036b67c87c 8 InterruptIn echo1(PA_11);
Nanaud 0:dc036b67c87c 9 InterruptIn echo2(PB_12);
Nanaud 0:dc036b67c87c 10 InterruptIn echo3(PB_2);
Nanaud 0:dc036b67c87c 11 InterruptIn echo4(PB_1);
Nanaud 0:dc036b67c87c 12 InterruptIn echo5(PB_15);
Nanaud 0:dc036b67c87c 13 InterruptIn echo6(PB_14);
Nanaud 0:dc036b67c87c 14
Nanaud 0:dc036b67c87c 15 // Drivers DRV8825
Nanaud 0:dc036b67c87c 16 #define STEP1 PA_6
Nanaud 0:dc036b67c87c 17 #define STEP2 PB_6
Nanaud 0:dc036b67c87c 18 #define DIR1 PC_2
Nanaud 0:dc036b67c87c 19 #define DIR2 PH_1
Nanaud 0:dc036b67c87c 20 #define EN PC_3
Nanaud 5:34ed652f8c31 21 #define diametreRoue 72 //51.45
Nanaud 5:34ed652f8c31 22 #define rayonRoue (diametreRoue/2)
Nanaud 5:34ed652f8c31 23 #define nbPas 6400 //1000
Nanaud 4:ad9b7355332e 24 BusOut mode(PB_0, PC_1, PC_0); // LSB ... MSB
Nanaud 5:34ed652f8c31 25 DRV8825 drvGauche(EN,DIR1,STEP1,rayonRoue,nbPas);
Nanaud 5:34ed652f8c31 26 DRV8825 drvDroite(EN,DIR2,STEP2,rayonRoue,nbPas);
Nanaud 0:dc036b67c87c 27
Nanaud 1:2fe8c402ee79 28 // Codeurs (Réf : LPJ3806-1000BM-G5-24E)
Nanaud 1:2fe8c402ee79 29 InterruptIn cdgA(PA_8); // Codeur de gauche
Nanaud 5:34ed652f8c31 30 DigitalIn cdgB(PA_9);
Nanaud 1:2fe8c402ee79 31 InterruptIn cddA(PA_0); // Codeur de droite
Nanaud 5:34ed652f8c31 32 DigitalIn cddB(PA_1);