Diff: pins.cpp

Revision:

0:dc036b67c87c

Child:

1:2fe8c402ee79

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pins.cpp	Wed Jul 08 19:51:28 2020 +0000
@@ -0,0 +1,44 @@
+#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);
+InterruptIn echo3(PB_2);
+InterruptIn echo4(PB_1);
+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
+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);
+InterruptIn cdgB(PA_9);
+long cpt_cddA=0;
+long cpt_cddB=0;
+InterruptIn cddA(PA_0);
+InterruptIn cddB(PA_1);