AresENSEA-CDF2020
/
AresCDFMainCode_us2
Test
Diff: captUS.h
- Revision:
- 21:e5f0f5abb5ae
- Parent:
- 20:7d206773f39e
- Child:
- 22:f891c2bce091
diff -r 7d206773f39e -r e5f0f5abb5ae captUS.h --- a/captUS.h Tue Oct 20 17:53:32 2020 +0000 +++ b/captUS.h Sun Oct 25 22:36:51 2020 +0000 @@ -1,7 +1,7 @@ // Nom du fichier : captUS.h -#ifndef CAPTUS_H -#define CAPTUS_H +//#ifndef CAPTUS_H +//#define CAPTUS_H //#include "mbed.h" #include "math.h" @@ -11,17 +11,23 @@ #define THETA 60 // extern -extern float us_out[6]; +//extern double us_out[6]; + +extern double us_high[6]; +extern double us_low[6]; +extern double us_diff[6]; +extern bool us_verif[6]; + extern Timer tps; extern Ticker ticker_US; -extern float* distance; +extern double distt[6]; extern bool rebooted; extern bool wtt; // Prototypes void captUS_trig(); -void captUS_init(); +//void captUS_init(); void echoRise1(); void echoFall1(); @@ -40,23 +46,23 @@ * Création d'une fonction qui * * convertis le temps en distance * **********************************/ -float* convertToDistance(); +void convertToDistance(void); /******************************************** * nous permet de placer l'origine au coins * * de la table * ********************************************/ -void changementBase(double* x_detect, double* y_detect); +//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); +//bool obstacleSpoted(float dist,double x_robot,double y_robot ,double phi, char I_theta); -#endif // CAPTUS_H \ No newline at end of file +//#endif // CAPTUS_H \ No newline at end of file