Dima Dudin / Mbed 2 deprecated DD_Robot

svoe

Dependencies:   mbed mbed-STM32F103C8T6 MPU6050_1

Diff: common.h

Branch:
svoe
Revision:
23:bc05a104be10
Parent:
22:14e85f2068c7
--- a/common.h	Tue Jul 23 12:55:23 2019 +0000
+++ b/common.h	Tue Aug 06 14:13:55 2019 +0000
@@ -19,6 +19,8 @@
 float const m_inert = 5e-3;//SI
 float const half_axis = 0.08;//SI
 float const ppr = 3200;//pulses per revolution
+float const deg5_rad = 0.08726646; //5/360*2*pi; //5 gradusov v radianah
+float const pi2_byte = 40.743665431; //256/2/pi;
 
 struct coord{
     float x; //m //vpered
@@ -30,6 +32,8 @@
     float accel;  
     float eps;
     bool dir;
+    int echo_cm;
+    float echo_azimuth;
 };
 
 coord current;
@@ -73,4 +77,9 @@
 #define GO 2
 #define ROTATE 1
 
+bool scan_360_flag;
+int scan_360_counter;
+int array_360_cm[100]; //full scan array
+float array_360_rad[100];
+int echo_delay_counter;