AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
pins.h@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 "mbed.h" |
Nanaud | 0:dc036b67c87c | 2 | #include "DRV8825.h" |
Nanaud | 0:dc036b67c87c | 3 | |
Nanaud | 0:dc036b67c87c | 4 | #include "debug.h" |
Nanaud | 0:dc036b67c87c | 5 | #include "captUS.h" |
Nanaud | 0:dc036b67c87c | 6 | #include "motors.h" |
Nanaud | 0:dc036b67c87c | 7 | #include "codeurs.h" |
Nanaud | 0:dc036b67c87c | 8 | #include <string.h> |
Nanaud | 0:dc036b67c87c | 9 | |
Nanaud | 0:dc036b67c87c | 10 | #define Lcmd 4 |
Nanaud | 0:dc036b67c87c | 11 | |
Nanaud | 0:dc036b67c87c | 12 | // Debug |
Nanaud | 0:dc036b67c87c | 13 | extern Serial pc; |
Nanaud | 0:dc036b67c87c | 14 | extern Ticker ticker_affUS; |
Nanaud | 0:dc036b67c87c | 15 | extern Ticker ticker_affcd; |
Nanaud | 0:dc036b67c87c | 16 | extern bool aff_US[6]; |
Nanaud | 0:dc036b67c87c | 17 | extern bool aff_cd[4]; |
Nanaud | 0:dc036b67c87c | 18 | |
Nanaud | 0:dc036b67c87c | 19 | //Capteurs à ultrasons |
Nanaud | 0:dc036b67c87c | 20 | extern float us_out[6]; |
Nanaud | 0:dc036b67c87c | 21 | extern Timer tps; |
Nanaud | 0:dc036b67c87c | 22 | extern Ticker ticker_US; |
Nanaud | 0:dc036b67c87c | 23 | extern DigitalOut trigger; |
Nanaud | 0:dc036b67c87c | 24 | extern InterruptIn echo1; |
Nanaud | 0:dc036b67c87c | 25 | extern InterruptIn echo2; |
Nanaud | 0:dc036b67c87c | 26 | extern InterruptIn echo3; |
Nanaud | 0:dc036b67c87c | 27 | extern InterruptIn echo4; |
Nanaud | 0:dc036b67c87c | 28 | extern InterruptIn echo5; |
Nanaud | 0:dc036b67c87c | 29 | extern InterruptIn echo6; |
Nanaud | 0:dc036b67c87c | 30 | |
Nanaud | 0:dc036b67c87c | 31 | // Drivers DRV8825 |
Nanaud | 0:dc036b67c87c | 32 | extern BusOut MODE; |
Nanaud | 0:dc036b67c87c | 33 | extern DRV8825 drvGauche; |
Nanaud | 0:dc036b67c87c | 34 | extern DRV8825 drvDroite; |
Nanaud | 0:dc036b67c87c | 35 | |
Nanaud | 0:dc036b67c87c | 36 | // Codeurs |
Nanaud | 0:dc036b67c87c | 37 | extern long cpt_cdgA; |
Nanaud | 0:dc036b67c87c | 38 | extern long cpt_cdgB; |
Nanaud | 0:dc036b67c87c | 39 | extern InterruptIn cdgA; |
Nanaud | 0:dc036b67c87c | 40 | extern InterruptIn cdgB; |
Nanaud | 0:dc036b67c87c | 41 | extern long cpt_cddA; |
Nanaud | 0:dc036b67c87c | 42 | extern long cpt_cddB; |
Nanaud | 0:dc036b67c87c | 43 | extern InterruptIn cddA; |
Nanaud | 0:dc036b67c87c | 44 | extern InterruptIn cddB; |