Diff: pins.cpp

Revision:

1:2fe8c402ee79

Parent:

0:dc036b67c87c

Child:

4:ad9b7355332e

--- a/pins.cpp	Wed Jul 08 19:51:28 2020 +0000
+++ b/pins.cpp	Wed Jul 08 20:42:19 2020 +0000
@@ -1,17 +1,7 @@
+// Nom du fichier : pins.cpp
 #include "pins.h"
 
-// Debug
-Serial pc(USBTX, USBRX);
-Ticker ticker_affUS;
-Ticker ticker_affcd;
-bool aff_US[6];
-bool aff_cd[4];
-
-
 // Capteurs à ultrasons
-float us_out[6];
-Timer tps;
-Ticker ticker_US;
 DigitalOut trigger(PB_9);
 InterruptIn echo1(PA_11);
 InterruptIn echo2(PB_12);
@@ -20,25 +10,18 @@
 InterruptIn echo5(PB_15);
 InterruptIn echo6(PB_14);
 
-
 // Drivers DRV8825 
-            //LSB       //MSB
-BusOut MODE(PB_0, PC_1, PC_0);
 #define STEP1 PA_6
 #define STEP2 PB_6
 #define DIR1 PC_2
 #define DIR2 PH_1
 #define EN PC_3
+BusOut MODE(PB_0, PC_1, PC_0); // LSB ... MSB
 DRV8825 drvGauche(EN,DIR1,STEP1); 
 DRV8825 drvDroite(EN,DIR2,STEP2); 
 
-
-// Codeurs LPJ3806-1000BM-G5-24E
-long cpt_cdgA=0;
-long cpt_cdgB=0;
-InterruptIn cdgA(PA_8);
+// Codeurs (Réf : LPJ3806-1000BM-G5-24E)
+InterruptIn cdgA(PA_8); // Codeur de gauche
 InterruptIn cdgB(PA_9);
-long cpt_cddA=0;
-long cpt_cddB=0;
-InterruptIn cddA(PA_0);
+InterruptIn cddA(PA_0); // Codeur de droite
 InterruptIn cddB(PA_1);