Hlimi Omar / Mbed 2 deprecated biniou

TRR2018 omar

Dependencies:   mbed

Fork of biniou by TRR 2018

stateMachines.cpp@3:03ea98f5b2e4, 2018-08-23 (annotated)

Committer:
GaspardD
Date:
Thu Aug 23 12:35:06 2018 +0000
Revision:
3:03ea98f5b2e4
Parent:
2:fd0ffe46a87d
Child:
8:1d8c3ca5e508
Suppression de la gestion/suivi ligne

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GaspardD 2:fd0ffe46a87d 1 #include <stdint.h>
GaspardD 2:fd0ffe46a87d 2
GaspardD 3:03ea98f5b2e4 3 #define MODE_SUIVI_MUR_DROIT 1
GaspardD 3:03ea98f5b2e4 4 #define MODE_SUIVI_MUR_GAUCHE 2
GaspardD 2:fd0ffe46a87d 5 #define MODE_COURSE 4
GaspardD 2:fd0ffe46a87d 6
GaspardD 2:fd0ffe46a87d 7 #define DRIFT_ENABLED 1
GaspardD 2:fd0ffe46a87d 8 #define DRIFT_OFF 1
GaspardD 2:fd0ffe46a87d 9
GaspardD 2:fd0ffe46a87d 10 #define NB_ECHANTILLONS_IR 3
GaspardD 2:fd0ffe46a87d 11 #define NB_ECHANTILLONS_US 3
GaspardD 2:fd0ffe46a87d 12 #define NB_CAPTEURS_VECTORISATION 3
GaspardD 2:fd0ffe46a87d 13
GaspardD 2:fd0ffe46a87d 14 static int mode_courant = MODE_COURSE; // mettre en define pour la compilation ? ou régler via télécommande ?
GaspardD 2:fd0ffe46a87d 15
GaspardD 3:03ea98f5b2e4 16 int fifo_dists_ir[NB_CAPTEURS_VECTORISATION][NB_ECHANTILLONS_IR];//buffer tournant des mesures sur lesquelles ont fait une moyenne
GaspardD 2:fd0ffe46a87d 17 int dist_obstacle_us[NB_ECHANTILLONS_US];//buffer tournant
GaspardD 2:fd0ffe46a87d 18 int index_fifo_ir = 0;//pour géreer le buffer tournant
GaspardD 2:fd0ffe46a87d 19 int index_fifo_us = 0;
GaspardD 2:fd0ffe46a87d 20 int position = 0;
GaspardD 2:fd0ffe46a87d 21 int vitesse = 0;
GaspardD 2:fd0ffe46a87d 22
GaspardD 2:fd0ffe46a87d 23 //change en mode course uniquement 1 réglage de PID par SECTION
GaspardD 2:fd0ffe46a87d 24 typedef enum{
GaspardD 2:fd0ffe46a87d 25 ARRET,
GaspardD 2:fd0ffe46a87d 26 LIGNE_DROITE,//PID ligne
GaspardD 2:fd0ffe46a87d 27 CHICANE_D,//PID murs
GaspardD 2:fd0ffe46a87d 28 CHICANE_G,
GaspardD 2:fd0ffe46a87d 29 EPINGLE_D,//PID epingle
GaspardD 2:fd0ffe46a87d 30 EPINGLE_G,
GaspardD 2:fd0ffe46a87d 31 ARRIVEE
GaspardD 2:fd0ffe46a87d 32 }SECTION_ST;
GaspardD 2:fd0ffe46a87d 33
GaspardD 2:fd0ffe46a87d 34
GaspardD 2:fd0ffe46a87d 35 typedef eneum
GaspardD 2:fd0ffe46a87d 36 {
GaspardD 2:fd0ffe46a87d 37 MURS_ABSENTS,
GaspardD 2:fd0ffe46a87d 38 MUR_G_OK,
GaspardD 2:fd0ffe46a87d 39 MUR_D_OK,
GaspardD 2:fd0ffe46a87d 40 MUR_GD_OK
GaspardD 2:fd0ffe46a87d 41 }MUR_ST
GaspardD 2:fd0ffe46a87d 42
GaspardD 2:fd0ffe46a87d 43 typedef eneum
GaspardD 2:fd0ffe46a87d 44 {
GaspardD 2:fd0ffe46a87d 45 RISQUE_COLLISION,
GaspardD 2:fd0ffe46a87d 46 EVITEMENT_D,
GaspardD 2:fd0ffe46a87d 47 EVITEMENT_G,
GaspardD 2:fd0ffe46a87d 48 FREINAGE_URG,
GaspardD 2:fd0ffe46a87d 49 CLEAR
GaspardD 2:fd0ffe46a87d 50 }OBSTACLE_ST
GaspardD 2:fd0ffe46a87d 51
GaspardD 2:fd0ffe46a87d 52 void murs_init();
GaspardD 2:fd0ffe46a87d 53 void murs_update();
GaspardD 2:fd0ffe46a87d 54 void murs_output();
GaspardD 2:fd0ffe46a87d 55
GaspardD 2:fd0ffe46a87d 56 void obstacle_init();
GaspardD 2:fd0ffe46a87d 57 void obstacle_update();
GaspardD 2:fd0ffe46a87d 58 void obstacle_output();
GaspardD 2:fd0ffe46a87d 59
GaspardD 2:fd0ffe46a87d 60 void section_init();
GaspardD 2:fd0ffe46a87d 61 void section_update();
GaspardD 2:fd0ffe46a87d 62 void section_output();