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@7:64bfecbb3000, 2017-05-31 (annotated)

Committer:
syasya
Date:
Wed May 31 12:17:59 2017 +0000
Revision:
7:64bfecbb3000
Parent:
6:5f7df5c74a77
Child:
9:7f62c0329849
with bearing;

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;
vermaelen 2:82b72fa8dbcd 9 extern DigitalOut trigger1;
vermaelen 2:82b72fa8dbcd 10 extern DigitalOut trigger2;
vermaelen 2:82b72fa8dbcd 11 extern DigitalOut trigger3;
vermaelen 2:82b72fa8dbcd 12 extern InterruptIn echo;
vermaelen 2:82b72fa8dbcd 13 extern AnalogIn AnaG;
vermaelen 2:82b72fa8dbcd 14 extern AnalogIn AnaAV;
vermaelen 2:82b72fa8dbcd 15 extern PwmOut MG; //vitesse moteur gauche
vermaelen 2:82b72fa8dbcd 16 extern PwmOut MD; //vitesse moteur droit
vermaelen 2:82b72fa8dbcd 17 extern DigitalOut sensMG; // sens moteur gauche
vermaelen 2:82b72fa8dbcd 18 extern DigitalOut sensMD; // sens moteur droit
syasya 7:64bfecbb3000 19 extern Timer temp,t,t2,t3;
vermaelen 2:82b72fa8dbcd 20 extern Ticker tic1,tic2;
syasya 7:64bfecbb3000 21 extern CMPS03 boussole;
vermaelen 2:82b72fa8dbcd 22
syasya 7:64bfecbb3000 23
syasya 7:64bfecbb3000 24 extern int etat;
vermaelen 2:82b72fa8dbcd 25 extern int drap,flag1,flag2,flag3,flag4,flag5;
vermaelen 3:b91371837109 26 extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av;
syasya 7:64bfecbb3000 27 extern float E_av,E,iE,E0,E1;
vermaelen 2:82b72fa8dbcd 28 extern float cmdG,cmdD;
vermaelen 2:82b72fa8dbcd 29 extern float iecart,ecart_av,ecart;
syasya 7:64bfecbb3000 30 extern float bearing,bearing_set;
vermaelen 2:82b72fa8dbcd 31
vermaelen 2:82b72fa8dbcd 32
vermaelen 2:82b72fa8dbcd 33 //CONSTANTES
vermaelen 2:82b72fa8dbcd 34 #define PERIOD 0.0001
syasya 7:64bfecbb3000 35 #define VMAX 45
syasya 7:64bfecbb3000 36 #define VLIMIT 70
vermaelen 4:78a9354fcee8 37 #define Kp_dist 0.2
vermaelen 5:3746060957fb 38 #define Kp_ecart 0.22
vermaelen 2:82b72fa8dbcd 39 #define a 24.0
vermaelen 2:82b72fa8dbcd 40 #define b 0.1
syasya 7:64bfecbb3000 41
vermaelen 2:82b72fa8dbcd 42 //PROTOTYPES
syasya 7:64bfecbb3000 43 void start_trig();
syasya 7:64bfecbb3000 44 void stop_trig();
syasya 7:64bfecbb3000 45 void stop();
vermaelen 2:82b72fa8dbcd 46 void init();
syasya 7:64bfecbb3000 47 void suivi_mur();
syasya 7:64bfecbb3000 48 void contournement();
syasya 7:64bfecbb3000 49 void rotation_horaire();
vermaelen 2:82b72fa8dbcd 50 void fcttrig();
vermaelen 2:82b72fa8dbcd 51 void mesAN();
vermaelen 2:82b72fa8dbcd 52
syasya 7:64bfecbb3000 53 float vitesse(float);
syasya 7:64bfecbb3000 54
vermaelen 2:82b72fa8dbcd 55 #endif