Diff: Mlib.h

Revision:

0:3ec7fc598e48

Child:

1:000a03402c6e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Mlib.h	Thu Jan 26 07:37:45 2017 +0000
@@ -0,0 +1,128 @@
+
+
+#ifndef TEST
+#define TEST
+
+#include "mbed.h"
+#include "MMA8451Q.h"
+#include "motor.h"
+
+#define MMA8451_I2C_ADRESS (0x1d<<1)
+
+#define FRQ_CLK 15000
+#define FRQ_CYC 6000
+#define AMIDTAB 64
+#define BMIDTAB 63
+#define BANDSIZE 4
+#define MIN_INTE 0
+#define MAX_INTE FRQ_CYC-500
+#define INCREM_BALANCE 300
+#define MARGE_LIGNE 5
+#define MARGE_DISTANCE_LIGNE 10
+#define LUMI_MOYENNE 80
+#define CORRECTION_VIRAGE 1
+#define MAX_BATTERY 1.3
+#define SEUIL_NB_DERRIVEE 25
+#define KD 400
+#define KI 3
+
+#define BOSSE_ACTIVE S2
+
+#define VITESSE 40
+/***********************FONCTIONS**********************/
+/**/     /****************CAMERA****************/   /**/
+/**/    void F_GetData();                           /**/
+/**/    void F_CLK();                               /**/
+/**/    void Impulse_SI();                          /**/
+/**/                                                /**/
+/**/    /***************SHIELD*****************/    /**/
+/**/    void moteurs_arriere();                     /**/
+/**/    void test_servo(int time);                  /**/
+/**/    void Get_pot_value();                       /**/
+/**/                                                /**/
+/**/    /**********TRAITEMENT_IMG************/      /**/
+/**/    void F_TraitementImage();                   /**/
+/**/    void F_BalanceBlancs();                     /**/
+/**/    void Gestion_bosse();                       /**/
+/**/    void T_image();                             /**/
+/**/                                                /**/
+/**/                                                /**/
+/**/    /***********AUTRES_FCT***************/      /**/
+/**/    char middle_3(char *tab);                   /**/
+/**/    int middle_3U(int *tab);                    /**/
+/**/    float middle_3F(float *tab);                /**/
+/**/    void tri_a_bulle(char* t, int const size);  /**/
+/**/    void tri_a_bulleU(int* t, int const size);  /**/
+/**/    float tri_a_bulleF(float*t, int const size);/**/
+/**/    unsigned char Moyenne(unsigned char *tab);  /**/
+/**/    char Moyenne2(char *tab, int nb);           /**/
+/**/    void menu();                                /**/
+/**/    void init_bary();                           /**/
+/**/    void fin_course();                          /**/   
+/******************************************************/
+
+/****************CAMERA****************/
+extern DigitalOut SI;
+extern DigitalOut CLK;
+extern AnalogIn AIN;
+extern unsigned char cam_data[128];
+extern InterruptIn Int_clk;
+extern char numero_data;
+extern char clk_active;
+
+/***************SHIELD*****************/
+extern char bosse;
+extern int ajust_vitesse;
+extern int vitesse_virage;
+extern DigitalOut BP1;
+extern DigitalOut BP2;
+extern DigitalOut led1;
+extern DigitalOut led2;
+extern DigitalOut led3;
+extern DigitalOut led4;
+extern DigitalIn S1;
+extern DigitalIn S2;
+extern DigitalIn S3;
+extern DigitalIn S4;
+extern AnalogIn pot1;
+extern AnalogIn pot2;
+
+/************TRAITEMENT_IMG************/
+extern Ticker t_clk; 
+extern Ticker t_finInte;
+extern int tempsInte;
+extern int baricentre;
+extern char arrivee;
+extern int somme_derivee;
+extern int seuil_der;
+extern float last_three[3];
+extern int bary_tab[3];
+extern int bary_tab_bis[3];
+extern int integral;
+extern int new_bari;
+extern int ralentire;
+extern MMA8451Q acc;
+extern char last_five[5];
+
+/*************AUTRES_VAR***************/
+extern Ticker t_cyc; 
+extern Serial pc;
+extern Timer t_debut;
+extern Timer t_ligne;
+extern Timer timer;
+extern int begin;
+extern int VIT;
+extern int KP;
+extern int ligne_droite;
+
+
+
+
+
+
+
+
+
+
+
+#endif /* !MLIB_H*/
\ No newline at end of file