Diff: fct.h

Revision:

7:64bfecbb3000

Parent:

6:5f7df5c74a77

Child:

9:7f62c0329849

--- a/fct.h	Wed May 31 08:48:23 2017 +0000
+++ b/fct.h	Wed May 31 12:17:59 2017 +0000
@@ -1,5 +1,9 @@
 #ifndef FCT_H
 #define FCT_H
+
+#include "CMPS03.h"
+#include "mbed.h"
+
 //GLOBALES
 extern BusOut leds;
 extern DigitalOut trigger1;
@@ -12,43 +16,40 @@
 extern PwmOut MD; //vitesse moteur droit
 extern DigitalOut sensMG;  // sens moteur gauche
 extern DigitalOut sensMD;  // sens moteur droit
-extern Timer temp,t,t2;
+extern Timer temp,t,t2,t3;
 extern Ticker tic1,tic2;
+extern CMPS03 boussole;
 
+
+extern int etat;
 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 E_av,E,iE,E0,E1,E2,E3;
+extern float E_av,E,iE,E0,E1;
 extern float cmdG,cmdD;
-extern int etat;
 extern float iecart,ecart_av,ecart;
+extern float bearing,bearing_set;
 
 
 //CONSTANTES 
 #define PERIOD 0.0001
-#define VMOY 45
-#define VMAX 70
+#define VMAX 45
+#define VLIMIT 70
 #define Kp_dist 0.2
 #define Kp_ecart 0.22
-#define Td_ecart 0.0
-#define Ti_ecart 1000.0
-#define limitmin 3
-#define limitmax 150
-#define Te 0.001
-#define Ti 2.0
 #define a 24.0
 #define b 0.1
+
 //PROTOTYPES
-void contournement();
-void stopMotor();
-void suivi_mur();
-void rotation_horaire();
+void start_trig();
+void stop_trig();
+void stop();
 void init();
-void asservissement();
+void suivi_mur();
+void contournement();
+void rotation_horaire();
 void fcttrig();
-float vitesse(float);
-void start();
-void stop();
-float vitesse(float);
 void mesAN();
 
+float vitesse(float);
+
 #endif