Alexandre Pirotte / Mbed 2 deprecated 0000Non_stop_code_v2

mm

Dependencies:   CMPS03 SRF05 mbed pixy

fct.h@0:6c5fac591b01, 2018-02-08 (annotated)

Committer:
pirottealex
Date:
Thu Feb 08 19:35:15 2018 +0000
Revision:
0:6c5fac591b01
mm

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pirottealex 0:6c5fac591b01 1 #ifndef FCT_H
pirottealex 0:6c5fac591b01 2 #define FCT_H
pirottealex 0:6c5fac591b01 3 #include "SRF05.h"
pirottealex 0:6c5fac591b01 4 #include <CMPS03.h>
pirottealex 0:6c5fac591b01 5 extern char cmdI2C ;// CS vbat x x x SensG SensD CS_G CD_D, sens moteur positif CS à 0.
pirottealex 0:6c5fac591b01 6 extern PwmOut MotD;
pirottealex 0:6c5fac591b01 7 extern PwmOut MotG;
pirottealex 0:6c5fac591b01 8 extern int captL1;
pirottealex 0:6c5fac591b01 9 extern int captL3;
pirottealex 0:6c5fac591b01 10 extern float us_arriere,gBoussole,cap_set,distance_av;
pirottealex 0:6c5fac591b01 11 extern int j,etat,bout,capt_balle;
pirottealex 0:6c5fac591b01 12 extern uint16_t blocks;
pirottealex 0:6c5fac591b01 13 extern float taille,errorX,cap_rot,capt_av;
pirottealex 0:6c5fac591b01 14 extern Timer tempo;
pirottealex 0:6c5fac591b01 15 //GLOBALES
pirottealex 0:6c5fac591b01 16 extern BusOut leds;
pirottealex 0:6c5fac591b01 17
pirottealex 0:6c5fac591b01 18 extern Serial CamPixy;
pirottealex 0:6c5fac591b01 19
pirottealex 0:6c5fac591b01 20 extern DigitalOut trig1;//US1
pirottealex 0:6c5fac591b01 21 extern InterruptIn echo1;
pirottealex 0:6c5fac591b01 22 extern DigitalOut trig2;//US2
pirottealex 0:6c5fac591b01 23 extern InterruptIn echo2;
pirottealex 0:6c5fac591b01 24 extern DigitalOut trig3;//US3
pirottealex 0:6c5fac591b01 25 extern InterruptIn echo3;
pirottealex 0:6c5fac591b01 26 extern SRF05 us_arr;
pirottealex 0:6c5fac591b01 27 extern I2C monI2C;
pirottealex 0:6c5fac591b01 28 extern DigitalOut cs;
pirottealex 0:6c5fac591b01 29 extern DigitalIn bp;
pirottealex 0:6c5fac591b01 30 extern AnalogIn SD_1; // capteur de distance courte droite
pirottealex 0:6c5fac591b01 31 extern AnalogIn SD_2; // capteur de distance courte gauche
pirottealex 0:6c5fac591b01 32 extern AnalogIn LD_1; // capteur de distance longue droite
pirottealex 0:6c5fac591b01 33 extern AnalogIn LD_2; // capteur de distance longue gauche
pirottealex 0:6c5fac591b01 34 extern CMPS03 Boussole;
pirottealex 0:6c5fac591b01 35 extern InterruptIn I_D;
pirottealex 0:6c5fac591b01 36 extern InterruptIn I_G;
pirottealex 0:6c5fac591b01 37
pirottealex 0:6c5fac591b01 38 extern SPI spi;
pirottealex 0:6c5fac591b01 39
pirottealex 0:6c5fac591b01 40 extern AnalogIn C1;// capteur de ligne blanche 1
pirottealex 0:6c5fac591b01 41 extern AnalogIn C3;// capteur de ligne blanche 3
pirottealex 0:6c5fac591b01 42 //-- le capteur de ligne 2 est sur un MCP3201(spi) dont le CS est sur p13
pirottealex 0:6c5fac591b01 43 extern DigitalOut cs;
pirottealex 0:6c5fac591b01 44
pirottealex 0:6c5fac591b01 45
pirottealex 0:6c5fac591b01 46
pirottealex 0:6c5fac591b01 47 //CONSTANTES
pirottealex 0:6c5fac591b01 48 #define ADR_PCF 0x70
pirottealex 0:6c5fac591b01 49 #define PERIOD 0.0001
pirottealex 0:6c5fac591b01 50 #define V_max 25
pirottealex 0:6c5fac591b01 51 #define V_recherche 25
pirottealex 0:6c5fac591b01 52 #define K 0.2
pirottealex 0:6c5fac591b01 53 #define V_moy 30
pirottealex 0:6c5fac591b01 54 #define a 59.6
pirottealex 0:6c5fac591b01 55 #define b 0.1
pirottealex 0:6c5fac591b01 56
pirottealex 0:6c5fac591b01 57 //PROTOTYPES
pirottealex 0:6c5fac591b01 58 void lecture_balle(void);
pirottealex 0:6c5fac591b01 59 void lecture_blanc(void);
pirottealex 0:6c5fac591b01 60 void vitmoteur(float,float);
pirottealex 0:6c5fac591b01 61 void lecture_us(void);
pirottealex 0:6c5fac591b01 62 void init(void);
pirottealex 0:6c5fac591b01 63 void lecture_boussole(void);
pirottealex 0:6c5fac591b01 64 void lecture_an(void);
pirottealex 0:6c5fac591b01 65 #endif