AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.h@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.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 5:34ed652f8c31 13 #define Pi 3.14159265359
Nanaud 5:34ed652f8c31 14 #define NbPulseCodeur 1000
Nanaud 5:34ed652f8c31 15 #define ecartCodeuse 245 // Distance en mm entre les deux roues codeuses
Nanaud 5:34ed652f8c31 16 #define diametreRoueCodeuse 51.450 // Diamètre de la roue codeuse en mm
Nanaud 5:34ed652f8c31 17 #define perimetreRoueCodeuse (diametreRoueCodeuse * Pi)
Nanaud 5:34ed652f8c31 18 #define vtSAT 0.250 // m/s
Nanaud 5:34ed652f8c31 19 #define perimetreE Pi*ecartCodeuse
Nanaud 5:34ed652f8c31 20
Nanaud 6:ea6b30c4bb01 21 extern InterruptIn btn;
Nanaud 6:ea6b30c4bb01 22
Nanaud 0:dc036b67c87c 23 //Capteurs à ultrasons
Nanaud 0:dc036b67c87c 24 extern DigitalOut trigger;
Nanaud 0:dc036b67c87c 25 extern InterruptIn echo1;
Nanaud 0:dc036b67c87c 26 extern InterruptIn echo2;
Nanaud 0:dc036b67c87c 27 extern InterruptIn echo3;
Nanaud 0:dc036b67c87c 28 extern InterruptIn echo4;
Nanaud 0:dc036b67c87c 29 extern InterruptIn echo5;
Nanaud 0:dc036b67c87c 30 extern InterruptIn echo6;
Nanaud 0:dc036b67c87c 31
Nanaud 0:dc036b67c87c 32 // Drivers DRV8825
Nanaud 4:ad9b7355332e 33 extern BusOut mode;
Nanaud 0:dc036b67c87c 34 extern DRV8825 drvGauche;
Nanaud 0:dc036b67c87c 35 extern DRV8825 drvDroite;
Nanaud 0:dc036b67c87c 36
Nanaud 0:dc036b67c87c 37 // Codeurs
Nanaud 0:dc036b67c87c 38 extern InterruptIn cdgA;
Nanaud 5:34ed652f8c31 39 extern DigitalIn cdgB;
Nanaud 0:dc036b67c87c 40 extern InterruptIn cddA;
Nanaud 5:34ed652f8c31 41 extern DigitalIn cddB;