AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

Capteur_US

Dependencies:   mbed DRV8825

pins.cpp

Committer:
Nanaud
Date:
2020-07-08
Revision:
0:dc036b67c87c
Child:
1:2fe8c402ee79

File content as of revision 0:dc036b67c87c:

#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);