AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
captUS.h@24:be2b2be6907b, 2020-10-28 (annotated)
- Committer:
- Nanaud
- Date:
- Wed Oct 28 20:08:39 2020 +0000
- Revision:
- 24:be2b2be6907b
- Parent:
- 22:f891c2bce091
- Child:
- 25:216e62f05f82
Homologue
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Nanaud | 1:2fe8c402ee79 | 1 | // Nom du fichier : captUS.h |
Nanaud | 0:dc036b67c87c | 2 | |
Nanaud | 21:e5f0f5abb5ae | 3 | //#ifndef CAPTUS_H |
Nanaud | 21:e5f0f5abb5ae | 4 | //#define CAPTUS_H |
Nanaud | 20:7d206773f39e | 5 | //#include "mbed.h" |
Nanaud | 20:7d206773f39e | 6 | #include "math.h" |
Nanaud | 20:7d206773f39e | 7 | |
Nanaud | 20:7d206773f39e | 8 | #define LONGUEUR_TAB 2000 |
Nanaud | 20:7d206773f39e | 9 | #define LARGEUR_TAB 3000 |
Nanaud | 20:7d206773f39e | 10 | #define _PI_ 3.14159265359 |
Nanaud | 20:7d206773f39e | 11 | #define THETA 60 |
Nanaud | 20:7d206773f39e | 12 | |
Nanaud | 1:2fe8c402ee79 | 13 | // extern |
Nanaud | 21:e5f0f5abb5ae | 14 | //extern double us_out[6]; |
Nanaud | 21:e5f0f5abb5ae | 15 | |
Nanaud | 24:be2b2be6907b | 16 | extern unsigned int us_high[6]; |
Nanaud | 24:be2b2be6907b | 17 | extern unsigned int us_low[6]; |
Nanaud | 24:be2b2be6907b | 18 | extern unsigned int us_diff[6]; |
Nanaud | 21:e5f0f5abb5ae | 19 | extern bool us_verif[6]; |
Nanaud | 21:e5f0f5abb5ae | 20 | |
Nanaud | 22:f891c2bce091 | 21 | extern Timer TimUS; |
Nanaud | 22:f891c2bce091 | 22 | extern Ticker TickUS_actu; |
Nanaud | 24:be2b2be6907b | 23 | extern unsigned int distt[6]; |
Nanaud | 20:7d206773f39e | 24 | |
Nanaud | 20:7d206773f39e | 25 | extern bool rebooted; |
Nanaud | 20:7d206773f39e | 26 | extern bool wtt; |
Nanaud | 1:2fe8c402ee79 | 27 | |
Nanaud | 1:2fe8c402ee79 | 28 | // Prototypes |
Nanaud | 1:2fe8c402ee79 | 29 | void captUS_trig(); |
Nanaud | 21:e5f0f5abb5ae | 30 | //void captUS_init(); |
Nanaud | 0:dc036b67c87c | 31 | |
Nanaud | 0:dc036b67c87c | 32 | void echoRise1(); |
Nanaud | 0:dc036b67c87c | 33 | void echoFall1(); |
Nanaud | 0:dc036b67c87c | 34 | void echoRise2(); |
Nanaud | 0:dc036b67c87c | 35 | void echoFall2(); |
Nanaud | 0:dc036b67c87c | 36 | void echoRise3(); |
Nanaud | 0:dc036b67c87c | 37 | void echoFall3(); |
Nanaud | 0:dc036b67c87c | 38 | void echoRise4(); |
Nanaud | 0:dc036b67c87c | 39 | void echoFall4(); |
Nanaud | 0:dc036b67c87c | 40 | void echoRise5(); |
Nanaud | 0:dc036b67c87c | 41 | void echoFall5(); |
Nanaud | 0:dc036b67c87c | 42 | void echoRise6(); |
Nanaud | 20:7d206773f39e | 43 | void echoFall6(); |
Nanaud | 20:7d206773f39e | 44 | |
Nanaud | 20:7d206773f39e | 45 | /********************************** |
Nanaud | 20:7d206773f39e | 46 | * Création d'une fonction qui * |
Nanaud | 20:7d206773f39e | 47 | * convertis le temps en distance * |
Nanaud | 20:7d206773f39e | 48 | **********************************/ |
Nanaud | 21:e5f0f5abb5ae | 49 | void convertToDistance(void); |
Nanaud | 20:7d206773f39e | 50 | |
Nanaud | 20:7d206773f39e | 51 | |
Nanaud | 20:7d206773f39e | 52 | /******************************************** |
Nanaud | 20:7d206773f39e | 53 | * nous permet de placer l'origine au coins * |
Nanaud | 20:7d206773f39e | 54 | * de la table * |
Nanaud | 20:7d206773f39e | 55 | ********************************************/ |
Nanaud | 21:e5f0f5abb5ae | 56 | //void changementBase(double* x_detect, double* y_detect); |
Nanaud | 20:7d206773f39e | 57 | |
Nanaud | 20:7d206773f39e | 58 | /******************************************* |
Nanaud | 20:7d206773f39e | 59 | * nous permet de détecter un obstacle * |
Nanaud | 20:7d206773f39e | 60 | * * |
Nanaud | 20:7d206773f39e | 61 | * false : personne | true : quelquechoses * |
Nanaud | 20:7d206773f39e | 62 | *******************************************/ |
Nanaud | 21:e5f0f5abb5ae | 63 | //bool obstacleSpoted(float dist,double x_robot,double y_robot ,double phi, char I_theta); |
Nanaud | 20:7d206773f39e | 64 | |
Nanaud | 20:7d206773f39e | 65 | |
Nanaud | 20:7d206773f39e | 66 | |
Nanaud | 20:7d206773f39e | 67 | |
Nanaud | 21:e5f0f5abb5ae | 68 | //#endif // CAPTUS_H |