tuan din engku syasya syazwani / Mbed 2 deprecated CACHAN_D_DAY_2

ROBOTIC COMPETITION PARIS 2017

Dependencies:   CMPS03 mbed

Fork of _test_suivi_mur by christophe vermaelen

fct.h@13:4fdd8ad91c69, 2018-01-22 (annotated)

Committer:
syasya
Date:
Mon Jan 22 19:32:00 2018 +0000
Revision:
13:4fdd8ad91c69
Parent:
12:6151eb503170 
ROBOTIQUE COMPETITION PARIS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vermaelen 2:82b72fa8dbcd 1 #ifndef FCT_H
vermaelen 2:82b72fa8dbcd 2 #define FCT_H
syasya 7:64bfecbb3000 3
syasya 7:64bfecbb3000 4 #include "CMPS03.h"
syasya 7:64bfecbb3000 5 #include "mbed.h"
syasya 7:64bfecbb3000 6
vermaelen 2:82b72fa8dbcd 7 //GLOBALES
vermaelen 2:82b72fa8dbcd 8 extern BusOut leds;
syasya 10:1a69a6f659bd 9 extern DigitalIn jack;
syasya 13:4fdd8ad91c69 10 extern DigitalIn capt2;
syasya 13:4fdd8ad91c69 11 extern DigitalIn capt1;
syasya 13:4fdd8ad91c69 12 extern DigitalOut smoke;
vermaelen 2:82b72fa8dbcd 13 extern DigitalOut trigger1;
vermaelen 2:82b72fa8dbcd 14 extern DigitalOut trigger2;
vermaelen 2:82b72fa8dbcd 15 extern DigitalOut trigger3;
vermaelen 2:82b72fa8dbcd 16 extern InterruptIn echo;
vermaelen 2:82b72fa8dbcd 17 extern AnalogIn AnaG;
vermaelen 2:82b72fa8dbcd 18 extern AnalogIn AnaAV;
syasya 13:4fdd8ad91c69 19 extern PwmOut servo;
vermaelen 2:82b72fa8dbcd 20 extern PwmOut MG; //vitesse moteur gauche
vermaelen 2:82b72fa8dbcd 21 extern PwmOut MD; //vitesse moteur droit
vermaelen 2:82b72fa8dbcd 22 extern DigitalOut sensMG; // sens moteur gauche
vermaelen 2:82b72fa8dbcd 23 extern DigitalOut sensMD; // sens moteur droit
syasya 13:4fdd8ad91c69 24 extern Timer temp,t,t2,t3,t4,t5;
syasya 13:4fdd8ad91c69 25 extern Ticker tic1,tic2,tic3;
syasya 7:64bfecbb3000 26 extern CMPS03 boussole;
vermaelen 2:82b72fa8dbcd 27
syasya 13:4fdd8ad91c69 28 extern int nombre;
syasya 13:4fdd8ad91c69 29 extern int capt,capt_memo;
syasya 13:4fdd8ad91c69 30 extern int etat,t3_set;
vermaelen 2:82b72fa8dbcd 31 extern int drap,flag1,flag2,flag3,flag4,flag5;
syasya 13:4fdd8ad91c69 32 extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av,AN3;
syasya 7:64bfecbb3000 33 extern float E_av,E,iE,E0,E1;
vermaelen 2:82b72fa8dbcd 34 extern float cmdG,cmdD;
vermaelen 2:82b72fa8dbcd 35 extern float iecart,ecart_av,ecart;
syasya 13:4fdd8ad91c69 36 extern float bearing,bearing_set,bearing_turn;
vermaelen 2:82b72fa8dbcd 37
vermaelen 2:82b72fa8dbcd 38
vermaelen 2:82b72fa8dbcd 39 //CONSTANTES
vermaelen 2:82b72fa8dbcd 40 #define PERIOD 0.0001
syasya 13:4fdd8ad91c69 41 #define VMAX 60
syasya 7:64bfecbb3000 42 #define VLIMIT 70
vermaelen 4:78a9354fcee8 43 #define Kp_dist 0.2
vermaelen 5:3746060957fb 44 #define Kp_ecart 0.22
vermaelen 2:82b72fa8dbcd 45 #define a 24.0
vermaelen 2:82b72fa8dbcd 46 #define b 0.1
syasya 7:64bfecbb3000 47
vermaelen 2:82b72fa8dbcd 48 //PROTOTYPES
syasya 9:7f62c0329849 49 void en_avant();
syasya 7:64bfecbb3000 50 void start_trig();
syasya 7:64bfecbb3000 51 void stop_trig();
syasya 7:64bfecbb3000 52 void stop();
vermaelen 2:82b72fa8dbcd 53 void init();
syasya 7:64bfecbb3000 54 void suivi_mur();
syasya 13:4fdd8ad91c69 55 void suivi_mur_dist();
syasya 7:64bfecbb3000 56 void contournement();
syasya 7:64bfecbb3000 57 void rotation_horaire();
syasya 12:6151eb503170 58 void rotation_sharp();
vermaelen 2:82b72fa8dbcd 59 void fcttrig();
vermaelen 2:82b72fa8dbcd 60 void mesAN();
syasya 13:4fdd8ad91c69 61 void ballon();
syasya 13:4fdd8ad91c69 62 void fume();
vermaelen 2:82b72fa8dbcd 63
syasya 7:64bfecbb3000 64 float vitesse(float);
syasya 7:64bfecbb3000 65
vermaelen 2:82b72fa8dbcd 66 #endif