Diff: stateMachines.h

Revision:

22:26fc6e6f7a55

Parent:

21:de7a0a47f8a3

Child:

23:04d393220daa

diff -r de7a0a47f8a3 -r 26fc6e6f7a55 stateMachines.h
--- a/stateMachines.h	Sat Sep 15 12:58:47 2018 +0000
+++ b/stateMachines.h	Sat Sep 15 15:56:01 2018 +0000
@@ -7,6 +7,8 @@
 
 #define NB_INTEGRAL_SAMPLES 5
 
+#define TACHY_CM 8
+
 #define DIERCTION_PERIOD_MS 10000
 #define DIRECTION_PULSE_MAX 2100
 #define DIRECTION_PULSE_MIN 800
@@ -30,8 +32,18 @@
 
 #define SPEED_DELTA_CMPS 30
 
+#define CAPT_45_DROITE PC_2
+#define CAPT_45_GAUCHE PC_0
+#define CAPT_90_DROITE PA_1
+#define CAPT_90_GAUCHE PC_1
+#define CAPT_10_GAUCHE PB_0
+#define CAPT_10_DROITE PC_3
+#define CAPT_DEVANT    PA_4
+#define ODOMETRE       PA_11
+
+
 #ifdef SAMPLING
-#define TAILLE_SAMPLES 4180
+#define TAILLE_SAMPLES 4000
 typedef struct states
 {
     char murs_dlvv;
@@ -43,15 +55,12 @@
 typedef struct sample 
 {
     s_States states;
-    uint16_t time;
-    uint16_t diffgd45;
-    uint16_t diffgd90;
-    uint16_t pwm_thro_us;
-    uint16_t pwm_dir_us;
-    uint16_t lidarDist;
-    uint16_t lidarStr;
-    uint16_t speed;
-    uint16_t dist;
+    int time;
+    int16_t diffgd45;
+    int16_t diffgd90;
+    int16_t pwm_thro_us;
+    int16_t pwm_dir_us;
+    int16_t dist;
 } s_Sample;
 
 #endif
@@ -90,8 +99,8 @@
 
 
 typedef struct s_section {
-   int targetSpeed_cmps;
-   int slowSpeed_cmps;//pour effectuer les virages... pour ne pas avoir d'a coups entre la vitesse variable et la vitesse limitée: brakingCoefficient = 30*((targetSpeed_cmps/slowSpeed_cmps)-1)
+   int targetSpeed_cmps;//supérieure a 328
+   int slowSpeed_cmps;//supérieure a 328; pour effectuer les virages: pour ne pas avoir d'a coups entre la vitesse variable et la vitesse limitée: brakingCoefficient = 30*((targetSpeed_cmps/slowSpeed_cmps)-1)
    int brakingCoefficient;
    int coef_p_speed;
    int lidarWarningDist_cm;