HERBERT Nicolas / Mbed 2 deprecated Labo_TRSE_Drone

Projet Drone de surveillance du labo TRSE (INGESUP)

Dependencies:   mbed PID ADXL345 Camera_LS_Y201 ITG3200 RangeFinder mbos xbee_lib Motor Servo

Module_Asservissement/Sous_Module_Mouvement/Module_Mouvement.h@36:1bbd2fb7d2c8, 2014-03-19 (annotated)

Committer:
Gaetan
Date:
Wed Mar 19 11:01:10 2014 +0000
Revision:
36:1bbd2fb7d2c8
Parent:
34:4466839f5bb7 
Checksum correct pour l'envoi de n'importe quel message Mavlink. Reste ? g?rer la reception de messages

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NicolasH 14:ca1bcc05e423 1 /* Copyright (c) 2012 - 2013 AUTHEUR
NicolasH 14:ca1bcc05e423 2 *
NicolasH 14:ca1bcc05e423 3 * THIS SOFTWARE IS PROVIDED BY THE AUTHOR "AS IS" AND ANY EXPRESS OR IMPLIED
NicolasH 14:ca1bcc05e423 4 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
NicolasH 14:ca1bcc05e423 5 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
NicolasH 14:ca1bcc05e423 6 * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
NicolasH 14:ca1bcc05e423 7 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
NicolasH 14:ca1bcc05e423 8 * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
NicolasH 14:ca1bcc05e423 9 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
NicolasH 14:ca1bcc05e423 10 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
NicolasH 14:ca1bcc05e423 11 * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
NicolasH 14:ca1bcc05e423 12 */
NicolasH 14:ca1bcc05e423 13
NicolasH 14:ca1bcc05e423 14 /*
NicolasH 14:ca1bcc05e423 15 * Description
NicolasH 14:ca1bcc05e423 16 * Input
NicolasH 14:ca1bcc05e423 17 * Output
NicolasH 14:ca1bcc05e423 18 */
NicolasH 14:ca1bcc05e423 19
NicolasH 14:ca1bcc05e423 20 #ifndef MODULE_MOUVEMENT_H
NicolasH 14:ca1bcc05e423 21 #define MODULE_MOUVEMENT_H
NicolasH 14:ca1bcc05e423 22
NicolasH 14:ca1bcc05e423 23 #include "mbos.h"
Gaetan 34:4466839f5bb7 24 #include "ITG3200.h"
Gaetan 34:4466839f5bb7 25 #include "Motor.h"
Gaetan 34:4466839f5bb7 26
Gaetan 34:4466839f5bb7 27 #define SDA p9
Gaetan 34:4466839f5bb7 28 #define SCL p10
Gaetan 34:4466839f5bb7 29 #define PWM p21
Gaetan 34:4466839f5bb7 30 #define FDW p22
Gaetan 34:4466839f5bb7 31 #define REV p23
Gaetan 34:4466839f5bb7 32
Gaetan 34:4466839f5bb7 33 /* Point d'entrée de la tache du Module Mouvement */
Gaetan 34:4466839f5bb7 34 void ModuleMouvement_Task(void);
NicolasH 14:ca1bcc05e423 35
NicolasH 14:ca1bcc05e423 36 class ModuleMouvement
NicolasH 14:ca1bcc05e423 37 {
NicolasH 14:ca1bcc05e423 38 private :
NicolasH 14:ca1bcc05e423 39 /* ATTRIBUTS */
Gaetan 34:4466839f5bb7 40
Gaetan 34:4466839f5bb7 41 ITG3200 *m_gyro;
Gaetan 34:4466839f5bb7 42 Motor *m_motor;
NicolasH 14:ca1bcc05e423 43
NicolasH 14:ca1bcc05e423 44 public :
NicolasH 14:ca1bcc05e423 45 /* CONSTRUCTEUR(S) */
NicolasH 14:ca1bcc05e423 46 ModuleMouvement();
Gaetan 34:4466839f5bb7 47 int m_gyroX;
Gaetan 34:4466839f5bb7 48 int m_gyroY;
Gaetan 34:4466839f5bb7 49 int m_gyroZ;
NicolasH 14:ca1bcc05e423 50
NicolasH 14:ca1bcc05e423 51 /* DESTRUCTEUR */
NicolasH 14:ca1bcc05e423 52 ~ModuleMouvement();
NicolasH 14:ca1bcc05e423 53
NicolasH 14:ca1bcc05e423 54 /* METHODES */
Gaetan 34:4466839f5bb7 55 void allumMotor();
Gaetan 34:4466839f5bb7 56 void eteindMotor();
Gaetan 34:4466839f5bb7 57 void getGyroValue();
Gaetan 34:4466839f5bb7 58 void creerTrame(char *envoi);
Gaetan 34:4466839f5bb7 59 void traiteCommande();
NicolasH 14:ca1bcc05e423 60
NicolasH 14:ca1bcc05e423 61 /* FONCTIONS */
NicolasH 14:ca1bcc05e423 62
NicolasH 14:ca1bcc05e423 63 };
NicolasH 14:ca1bcc05e423 64
NicolasH 14:ca1bcc05e423 65 #endif