AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
pins.h
- Committer:
- Nanaud
- Date:
- 2020-07-21
- Revision:
- 5:34ed652f8c31
- Parent:
- 4:ad9b7355332e
- Child:
- 6:ea6b30c4bb01
File content as of revision 5:34ed652f8c31:
// Nom du fichier : pins.h #include "mbed.h" #include "DRV8825.h" #include <string.h> #include <math.h> #include "debug.h" #include "captUS.h" #include "motors.h" #include "codeurs.h" #include "odo_asserv.h" // #define #define Pi 3.14159265359 #define NbPulseCodeur 1000 #define ecartCodeuse 245 // Distance en mm entre les deux roues codeuses #define diametreRoueCodeuse 51.450 // Diamètre de la roue codeuse en mm #define perimetreRoueCodeuse (diametreRoueCodeuse * Pi) #define vtSAT 0.250 // m/s #define perimetreE Pi*ecartCodeuse //Capteurs à ultrasons extern DigitalOut trigger; extern InterruptIn echo1; extern InterruptIn echo2; extern InterruptIn echo3; extern InterruptIn echo4; extern InterruptIn echo5; extern InterruptIn echo6; // Drivers DRV8825 extern BusOut mode; extern DRV8825 drvGauche; extern DRV8825 drvDroite; // Codeurs extern InterruptIn cdgA; extern DigitalIn cdgB; extern InterruptIn cddA; extern DigitalIn cddB;