Diff: fct.h

Revision:

2:48f7e5f79caa

Parent:

1:99f469d63b9a

--- a/fct.h	Sat Jun 10 07:20:21 2017 +0000
+++ b/fct.h	Thu Jun 22 09:32:24 2017 +0000
@@ -7,10 +7,10 @@
 extern PwmOut MotG;
 extern int captL1;
 extern int captL3;
-extern float us_arriere,gBoussole,cap_set,erreur_ar,flag;
+extern float us_arriere,us_droit,us_gauche,gBoussole,cap_set,erreur_ar,flag,erreur_av;
 extern int j,etat,bout;
 extern uint16_t blocks;
-extern float taille,errorX,cap_rot,cap_arriere;
+extern float taille,errorX,cap_rot,cap_arriere,cap_avant;
 extern Timer tempo,tempo2;
 //GLOBALES
 extern BusOut leds;
@@ -24,6 +24,8 @@
 extern DigitalOut trig3;//US3
 extern InterruptIn echo3;
 extern SRF05 us_arr;
+extern SRF05 us_g;
+extern SRF05 us_d;
 extern I2C monI2C;
 extern DigitalOut cs;
 extern PwmOut Servo;
@@ -48,7 +50,7 @@
 //CONSTANTES
 #define ADR_PCF 0x70
 #define PERIOD 0.0001
-#define V_max 30
+#define V_max 32
 #define V_recherche 18
 #define K 0.1
 #define V_moy 25