AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_capteur_US

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Dependencies:   mbed DRV8825

Diff: captUS.h

Revision:
16:4c0b1647e8ae
Parent:
15:43f5bda97488
--- a/captUS.h	Mon Sep 28 19:17:00 2020 +0000
+++ b/captUS.h	Tue Oct 13 14:50:31 2020 +0000
@@ -1,4 +1,13 @@
+#ifndef CAPTUS_H
+#define CAPTUS_H
+#include "mbed.h"
+#include "math.h"
+
 // Nom du fichier : captUS.h
+#define LONGUEUR_TAB 2000
+#define LARGEUR_TAB 3000
+#define _PI_ 3.14159265359
+#define THETA 60
 
 // extern
 extern float us_out[6];
@@ -26,4 +35,23 @@
  * Création d'une fonction qui    *
  * convertis le temps en distance *
  **********************************/
-float* convertToDistance();
\ No newline at end of file
+float* convertToDistance();
+
+
+/********************************************
+ * nous permet de placer l'origine au coins *
+ * de la table                              *
+ ********************************************/
+void changementBase(double* x_detect, double* y_detect);
+
+/*******************************************
+ * nous permet de détecter un obstacle     *
+ *                                         *
+ * false : personne | true : quelquechoses *
+ *******************************************/
+bool obstacleSpoted(float dist,double x_robot,double y_robot ,double phi, char I_theta);
+
+
+
+
+#endif // CAPTUS_H