AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
pins.cpp
- Committer:
- Nanaud
- Date:
- 2020-09-11
- Revision:
- 10:0714feaaaee1
- Parent:
- 6:ea6b30c4bb01
File content as of revision 10:0714feaaaee1:
// Nom du fichier : pins.cpp #include "pins.h" InterruptIn btn(PC_13); // Capteurs à ultrasons 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 #define STEP1 PA_6 #define STEP2 PB_6 #define DIR1 PC_2 #define DIR2 PC_3 #define EN1 PA_15 #define EN2 PA_14 #define diametreRoue 72 //51.45 #define rayonRoue (diametreRoue/2) #define nbPas 6400 //1000 //BusOut mode(PB_7, PC_13, PC_14); // LSB ... MSB DigitalOut mode_M0(PB_7); //DigitalOut mode_M1(PC_13); // Inutile //DigitalOut mode_M2(PC_14); // Hardware DRV8825 drvGauche(EN1,DIR1,STEP1,rayonRoue,nbPas); DRV8825 drvDroite(EN2,DIR2,STEP2,rayonRoue,nbPas); // Codeurs (Réf : LPJ3806-1000BM-G5-24E) InterruptIn cdgA(PA_8); // Codeur de gauche DigitalIn cdgB(PA_9); InterruptIn cddA(PA_0); // Codeur de droite DigitalIn cddB(PA_1);