AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
main.cpp
- Committer:
- Nanaud
- Date:
- 2020-09-11
- Revision:
- 13:a72b0752aa6f
- Parent:
- 12:2c312916a621
- Child:
- 14:dd3c756c6d48
File content as of revision 13:a72b0752aa6f:
// Nom du fichier : main.cpp #include "pins.h" void btnFct(){ mot_dis(); aff_cd[0] = 0; aff_cd[1] = 0; pc.printf("comptG = %d\r\n",comptG); pc.printf("comptD = %d\r\n",comptD); bt.printf("comptG = %d\r\n",comptG); bt.printf("comptD = %d\r\n",comptD); } int main() { pc.printf("\r\nAresCDFMainCode\r\n"); bt.printf("\r\nAresCDFMainCode\r\n"); btn.rise(&btnFct); // debug pc.attach(&serialIT); // Interruption liaison série bt.attach(&bluetoothIT); // Interruption bluetooth pc.baud(9600); pc.format(8,SerialBase::None,1); bt.baud(9600); bt.format(8,SerialBase::None,1); //ticker_US.attach(&captUS_trig,0.2); // On apelle cette fonction toutes 0.2 secondes //ticker_affUS.attach(&affUltrasons,1.0); //ticker_affcd.attach(&affCodeurs,1.0); //tickTest.attach(&test4,0.1); ticker_odo.attach(&odometrie,0.02); ticker_affodo.attach(&affOdo,1); // Init capteurs à ultrasons captUS_init(); echo1.rise(&echoRise1); echo1.fall(&echoFall1); echo2.rise(&echoRise2); echo2.fall(&echoFall2); echo3.rise(&echoRise3); echo3.fall(&echoFall3); echo4.rise(&echoRise4); echo4.fall(&echoFall4); echo5.rise(&echoRise5); echo5.fall(&echoFall5); echo6.rise(&echoRise6); echo6.fall(&echoFall6); // Init DRV8825 drv_init(); // Init codeurs cdgA.rise(&cdgaRise); cddA.rise(&cddaRise); cdgA.mode(PullUp); cddA.mode(PullUp); // Odometrie while(1) {} }