Diff: pins.h

Revision:

5:34ed652f8c31

Parent:

4:ad9b7355332e

Child:

6:ea6b30c4bb01

--- a/pins.h	Sat Jul 18 17:09:08 2020 +0000
+++ b/pins.h	Tue Jul 21 19:33:38 2020 +0000
@@ -10,6 +10,15 @@
 #include "codeurs.h"
 #include "odo_asserv.h"
 
+// #define
+#define Pi 3.14159265359
+#define NbPulseCodeur 1000
+#define ecartCodeuse 245 // Distance en mm entre les deux roues codeuses
+#define diametreRoueCodeuse 51.450 // Diamètre de la roue codeuse en mm
+#define perimetreRoueCodeuse (diametreRoueCodeuse * Pi)
+#define vtSAT 0.250 // m/s 
+#define perimetreE Pi*ecartCodeuse
+
 //Capteurs à ultrasons
 extern DigitalOut trigger;
 extern InterruptIn echo1;
@@ -26,6 +35,6 @@
 
 // Codeurs
 extern InterruptIn cdgA;
-extern InterruptIn cdgB;
+extern DigitalIn cdgB;
 extern InterruptIn cddA;
-extern InterruptIn cddB;
\ No newline at end of file
+extern DigitalIn cddB;
\ No newline at end of file