Alexandre Pirotte / Mbed 2 deprecated 0000Non_stop_code_v2

mm

Dependencies:   CMPS03 SRF05 mbed pixy

globals.cpp@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 #include "mbed.h"
pirottealex 0:6c5fac591b01 2 #include "SRF05.h"
pirottealex 0:6c5fac591b01 3 #include <CMPS03.h>
pirottealex 0:6c5fac591b01 4 char cmdI2C=0xF3 ;// CS vbat x x x SensG SensD CS_G CD_D, sens moteur positif CS à 0.
pirottealex 0:6c5fac591b01 5 PwmOut MotD(p25);
pirottealex 0:6c5fac591b01 6 PwmOut MotG(p22);
pirottealex 0:6c5fac591b01 7
pirottealex 0:6c5fac591b01 8 BusOut leds(LED1,LED2,LED3,LED4);
pirottealex 0:6c5fac591b01 9
pirottealex 0:6c5fac591b01 10 /*DigitalOut trig1(p11);//US1
pirottealex 0:6c5fac591b01 11 InterruptIn echo1(p12);
pirottealex 0:6c5fac591b01 12 DigitalOut trig2(p8);//US2
pirottealex 0:6c5fac591b01 13 InterruptIn echo2(p24);
pirottealex 0:6c5fac591b01 14 DigitalOut trig3(p26);//US3
pirottealex 0:6c5fac591b01 15 InterruptIn echo3(p23);*/
pirottealex 0:6c5fac591b01 16
pirottealex 0:6c5fac591b01 17 SRF05 us_arr(p8,p24);
pirottealex 0:6c5fac591b01 18 CMPS03 Boussole(p9,p10,0xC0);
pirottealex 0:6c5fac591b01 19 I2C monI2C(p9,p10);
pirottealex 0:6c5fac591b01 20 //PwmOut Servo(p21);
pirottealex 0:6c5fac591b01 21
pirottealex 0:6c5fac591b01 22 AnalogIn SD_1(p19); // capteur de distance courte droite
pirottealex 0:6c5fac591b01 23 AnalogIn SD_2(p20); // capteur de distance courte gauche
pirottealex 0:6c5fac591b01 24 AnalogIn LD_1(p17); // capteur de distance longue droite
pirottealex 0:6c5fac591b01 25 AnalogIn LD_2(p18); // capteur de distance longue gauche
pirottealex 0:6c5fac591b01 26
pirottealex 0:6c5fac591b01 27 InterruptIn I_D(p30);
pirottealex 0:6c5fac591b01 28 InterruptIn I_G(p29);
pirottealex 0:6c5fac591b01 29
pirottealex 0:6c5fac591b01 30
pirottealex 0:6c5fac591b01 31 AnalogIn C1(p15);// capteur de ligne blanche 1
pirottealex 0:6c5fac591b01 32 AnalogIn C3(p16);// capteur de ligne blanche 3
pirottealex 0:6c5fac591b01 33 //-- le capteur de ligne 2 est sur un MCP3201(spi) dont le CS est sur p13
pirottealex 0:6c5fac591b01 34
pirottealex 0:6c5fac591b01 35 DigitalIn bp(p14);
pirottealex 0:6c5fac591b01 36
pirottealex 0:6c5fac591b01 37
pirottealex 0:6c5fac591b01 38
pirottealex 0:6c5fac591b01 39 int j=0,etat=0;
pirottealex 0:6c5fac591b01 40 uint16_t blocks;
pirottealex 0:6c5fac591b01 41 float taille,errorX,gBoussole,cap_set,cap_rot;
pirottealex 0:6c5fac591b01 42 int captL1,bout;
pirottealex 0:6c5fac591b01 43 int captL3,capt_balle;
pirottealex 0:6c5fac591b01 44
pirottealex 0:6c5fac591b01 45 float us_arriere,capt_av,distance_av;
pirottealex 0:6c5fac591b01 46 Timer tempo;