Freescale_Cachan / Mbed 2 deprecated Programme_course_base

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Dependencies:   MMA8451Q mbed xbee_lib

Fork of Programme_course by Freescale_Cachan

Diff: Mlib.h

Revision:
2:ddf9879f0e25
Parent:
1:4a9196bcf97a
diff -r 4a9196bcf97a -r ddf9879f0e25 Mlib.h
--- a/Mlib.h	Wed Feb 08 15:16:04 2017 +0000
+++ b/Mlib.h	Fri Mar 17 14:18:13 2017 +0000
@@ -6,6 +6,7 @@
 #include "mbed.h"
 #include "MMA8451Q.h"
 #include "motor.h"
+#include "xbee.h"
 
 #define MMA8451_I2C_ADRESS (0x1d<<1)
 
@@ -23,8 +24,17 @@
 #define CORRECTION_VIRAGE 1
 #define MAX_BATTERY 1.3
 #define SEUIL_NB_DERRIVEE 25
-#define KD 400
-#define KI 3
+//#define KD 600  //valeur de base 400
+//#define KI 3
+
+/* Constantes de prépro relatives à Xbee*/
+
+#define NB_CARAC 4
+#define VIT1 101
+#define KD1 102
+#define KP1 103
+#define KI1 104
+
 
 #define BOSSE_ACTIVE S2
 
@@ -58,7 +68,12 @@
 /**/    char Moyenne2(char *tab, int nb);           /**/
 /**/    void menu();                                /**/
 /**/    void init_bary();                           /**/
-/**/    void fin_course();                          /**/   
+/**/    void fin_course();                          /**/ 
+/*****  XBEE***/
+        int Xbee_receive();
+        void Xbee_send(int data);
+        void Xbee_init();  
+        int Get_values_Xbee();
 /******************************************************/
 
 /****************CAMERA****************/
@@ -81,8 +96,11 @@
 extern DigitalOut led2;
 extern DigitalOut led3;
 extern DigitalOut led4;
-extern DigitalIn S1; // switch 1
-extern DigitalIn S2; // switch 2
+extern DigitalOut led5;
+extern DigitalOut led6;
+extern DigitalOut led7;
+extern DigitalIn S1;
+extern DigitalIn S2;
 extern DigitalIn S3;
 extern DigitalIn S4;
 extern AnalogIn pot1;
@@ -108,18 +126,21 @@
 /*************AUTRES_VAR***************/
 extern Ticker t_cyc; 
 extern Serial pc;
+extern Serial dataXB;
 extern Timer t_debut;
 extern Timer t_ligne;
 extern Timer timer;
 extern int begin;
 extern int VIT;
 extern int KP;
+extern int KD;
+extern int KI;
 extern int ligne_droite;
 
+/**xbee*/
+extern xbee xbee1; //Initalise xbee_lib varName(rx,tx,reset)
+extern DigitalOut rst1;
 
-extern DigitalOut led5;
-extern DigitalOut led6;
-extern DigitalOut led7;