AresENSEA-CDF2020 / Mbed 2 deprecated AresCDFMainCode_us2

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Dependencies:   mbed DRV8825

pins.cpp

Committer:
Nanaud
Date:
2020-07-26
Revision:
6:ea6b30c4bb01
Parent:
5:34ed652f8c31
Child:
10:0714feaaaee1

File content as of revision 6:ea6b30c4bb01:

// Nom du fichier : pins.cpp
#include "pins.h"

InterruptIn btn(PC_13);

// Capteurs à ultrasons
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 
#define STEP1 PA_6
#define STEP2 PB_6
#define DIR1 PC_2
#define DIR2 PH_1
#define EN PC_3
#define diametreRoue 72 //51.45
#define rayonRoue (diametreRoue/2)
#define nbPas 6400 //1000
BusOut mode(PB_0, PC_1, PC_0); // LSB ... MSB
DRV8825 drvGauche(EN,DIR1,STEP1,rayonRoue,nbPas); 
DRV8825 drvDroite(EN,DIR2,STEP2,rayonRoue,nbPas); 

// Codeurs (Réf : LPJ3806-1000BM-G5-24E)
InterruptIn cdgA(PA_8); // Codeur de gauche
DigitalIn cdgB(PA_9);
InterruptIn cddA(PA_0); // Codeur de droite
DigitalIn cddB(PA_1);