AresENSEA-CDF2020
/
AresCDFMainCode_capteur_US
Capteur_US
pins.cpp@0:dc036b67c87c, 2020-07-08 (annotated)
- Committer:
- Nanaud
- Date:
- Wed Jul 08 19:51:28 2020 +0000
- Revision:
- 0:dc036b67c87c
- Child:
- 1:2fe8c402ee79
Code principal du projet
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nanaud | 0:dc036b67c87c | 1 | #include "pins.h" |
Nanaud | 0:dc036b67c87c | 2 | |
Nanaud | 0:dc036b67c87c | 3 | // Debug |
Nanaud | 0:dc036b67c87c | 4 | Serial pc(USBTX, USBRX); |
Nanaud | 0:dc036b67c87c | 5 | Ticker ticker_affUS; |
Nanaud | 0:dc036b67c87c | 6 | Ticker ticker_affcd; |
Nanaud | 0:dc036b67c87c | 7 | bool aff_US[6]; |
Nanaud | 0:dc036b67c87c | 8 | bool aff_cd[4]; |
Nanaud | 0:dc036b67c87c | 9 | |
Nanaud | 0:dc036b67c87c | 10 | |
Nanaud | 0:dc036b67c87c | 11 | // Capteurs à ultrasons |
Nanaud | 0:dc036b67c87c | 12 | float us_out[6]; |
Nanaud | 0:dc036b67c87c | 13 | Timer tps; |
Nanaud | 0:dc036b67c87c | 14 | Ticker ticker_US; |
Nanaud | 0:dc036b67c87c | 15 | DigitalOut trigger(PB_9); |
Nanaud | 0:dc036b67c87c | 16 | InterruptIn echo1(PA_11); |
Nanaud | 0:dc036b67c87c | 17 | InterruptIn echo2(PB_12); |
Nanaud | 0:dc036b67c87c | 18 | InterruptIn echo3(PB_2); |
Nanaud | 0:dc036b67c87c | 19 | InterruptIn echo4(PB_1); |
Nanaud | 0:dc036b67c87c | 20 | InterruptIn echo5(PB_15); |
Nanaud | 0:dc036b67c87c | 21 | InterruptIn echo6(PB_14); |
Nanaud | 0:dc036b67c87c | 22 | |
Nanaud | 0:dc036b67c87c | 23 | |
Nanaud | 0:dc036b67c87c | 24 | // Drivers DRV8825 |
Nanaud | 0:dc036b67c87c | 25 | //LSB //MSB |
Nanaud | 0:dc036b67c87c | 26 | BusOut MODE(PB_0, PC_1, PC_0); |
Nanaud | 0:dc036b67c87c | 27 | #define STEP1 PA_6 |
Nanaud | 0:dc036b67c87c | 28 | #define STEP2 PB_6 |
Nanaud | 0:dc036b67c87c | 29 | #define DIR1 PC_2 |
Nanaud | 0:dc036b67c87c | 30 | #define DIR2 PH_1 |
Nanaud | 0:dc036b67c87c | 31 | #define EN PC_3 |
Nanaud | 0:dc036b67c87c | 32 | DRV8825 drvGauche(EN,DIR1,STEP1); |
Nanaud | 0:dc036b67c87c | 33 | DRV8825 drvDroite(EN,DIR2,STEP2); |
Nanaud | 0:dc036b67c87c | 34 | |
Nanaud | 0:dc036b67c87c | 35 | |
Nanaud | 0:dc036b67c87c | 36 | // Codeurs LPJ3806-1000BM-G5-24E |
Nanaud | 0:dc036b67c87c | 37 | long cpt_cdgA=0; |
Nanaud | 0:dc036b67c87c | 38 | long cpt_cdgB=0; |
Nanaud | 0:dc036b67c87c | 39 | InterruptIn cdgA(PA_8); |
Nanaud | 0:dc036b67c87c | 40 | InterruptIn cdgB(PA_9); |
Nanaud | 0:dc036b67c87c | 41 | long cpt_cddA=0; |
Nanaud | 0:dc036b67c87c | 42 | long cpt_cddB=0; |
Nanaud | 0:dc036b67c87c | 43 | InterruptIn cddA(PA_0); |
Nanaud | 0:dc036b67c87c | 44 | InterruptIn cddB(PA_1); |