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Dependencies:   mbed

Classes/Voiture.h@0:8743b606abc3, 2020-02-11 (annotated)

Committer:
Wael_H
Date:
Tue Feb 11 15:41:45 2020 +0000
Revision:
0:8743b606abc3
Child:
1:a9af73d5abd4
Version direction a peu pres

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wael_H 0:8743b606abc3 1 #ifndef VOITURE_H
Wael_H 0:8743b606abc3 2 #define VOITURE_H
Wael_H 0:8743b606abc3 3
Wael_H 0:8743b606abc3 4 #include "NXPCam.h"
Wael_H 0:8743b606abc3 5
Wael_H 0:8743b606abc3 6 #define ROUES_DROITES 0.075f
Wael_H 0:8743b606abc3 7 #define MAX_DROITE 0.1f
Wael_H 0:8743b606abc3 8 #define MAX_GAUCHE 0.05f
Wael_H 0:8743b606abc3 9 #define PAS 0.001f
Wael_H 0:8743b606abc3 10
Wael_H 0:8743b606abc3 11 class Voiture
Wael_H 0:8743b606abc3 12 {
Wael_H 0:8743b606abc3 13 public:
Wael_H 0:8743b606abc3 14 Voiture();
Wael_H 0:8743b606abc3 15 void gestionDeplacement();
Wael_H 0:8743b606abc3 16 void tourne(int val); // val comprise entre -100 (gauche) et 100 (droite)
Wael_H 0:8743b606abc3 17
Wael_H 0:8743b606abc3 18 private:
Wael_H 0:8743b606abc3 19 NXPCam cam; // Pixy qui gère le traitement d'images
Wael_H 0:8743b606abc3 20
Wael_H 0:8743b606abc3 21 PwmOut orientation; // Correspond au servo-moteur qui oriente les roues avant
Wael_H 0:8743b606abc3 22 float futureOrientation; // variable expliquée en-dessous
Wael_H 0:8743b606abc3 23 void gestionRoues(); // fct qui tourne en continu et qui permet de faire tourner progressivement les roues vers 'futureOrientation'
Wael_H 0:8743b606abc3 24 Timer timerRotation; // timer qui permet de faire tourner progressivement
Wael_H 0:8743b606abc3 25
Wael_H 0:8743b606abc3 26 PwmOut motG;
Wael_H 0:8743b606abc3 27 PwmOut motD;
Wael_H 0:8743b606abc3 28 DigitalIn OnOff;
Wael_H 0:8743b606abc3 29
Wael_H 0:8743b606abc3 30 // Debug
Wael_H 0:8743b606abc3 31 BusOut leds;
Wael_H 0:8743b606abc3 32 };
Wael_H 0:8743b606abc3 33
Wael_H 0:8743b606abc3 34 #endif // VOITURE_H