tuan din engku syasya syazwani
/
CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
Diff: fct.h
- Revision:
- 13:4fdd8ad91c69
- Parent:
- 12:6151eb503170
--- a/fct.h Thu Jun 01 09:30:37 2017 +0000 +++ b/fct.h Mon Jan 22 19:32:00 2018 +0000 @@ -7,33 +7,38 @@ //GLOBALES extern BusOut leds; extern DigitalIn jack; +extern DigitalIn capt2; +extern DigitalIn capt1; +extern DigitalOut smoke; extern DigitalOut trigger1; extern DigitalOut trigger2; extern DigitalOut trigger3; extern InterruptIn echo; extern AnalogIn AnaG; extern AnalogIn AnaAV; +extern PwmOut servo; extern PwmOut MG; //vitesse moteur gauche extern PwmOut MD; //vitesse moteur droit extern DigitalOut sensMG; // sens moteur gauche extern DigitalOut sensMD; // sens moteur droit -extern Timer temp,t,t2,t3; -extern Ticker tic1,tic2; +extern Timer temp,t,t2,t3,t4,t5; +extern Ticker tic1,tic2,tic3; extern CMPS03 boussole; - -extern int etat,t_set; +extern int nombre; +extern int capt,capt_memo; +extern int etat,t3_set; extern int drap,flag1,flag2,flag3,flag4,flag5; -extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av; +extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av,AN3; extern float E_av,E,iE,E0,E1; extern float cmdG,cmdD; extern float iecart,ecart_av,ecart; -extern float bearing,bearing_set; +extern float bearing,bearing_set,bearing_turn; //CONSTANTES #define PERIOD 0.0001 -#define VMAX 30 +#define VMAX 60 #define VLIMIT 70 #define Kp_dist 0.2 #define Kp_ecart 0.22 @@ -47,13 +52,15 @@ void stop(); void init(); void suivi_mur(); +void suivi_mur_dist(); void contournement(); void rotation_horaire(); void rotation_sharp(); void fcttrig(); void mesAN(); +void ballon(); +void fume(); float vitesse(float); - #endif