tuan din engku syasya syazwani
/
CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
Diff: globals.cpp
- Revision:
- 7:64bfecbb3000
- Parent:
- 3:b91371837109
- Child:
- 10:1a69a6f659bd
--- a/globals.cpp Wed May 31 08:48:23 2017 +0000 +++ b/globals.cpp Wed May 31 12:17:59 2017 +0000 @@ -1,5 +1,7 @@ #include "mbed.h" +#include "CMPS03.h" BusOut leds(LED1,LED2,LED3,LED4); +CMPS03 boussole(p9,p10,CMPS03_DEFAULT_I2C_ADDRESS); DigitalOut trigger1(p14); DigitalOut trigger2(p16); DigitalOut trigger3(p18); @@ -10,13 +12,14 @@ PwmOut MG(p24); //vitesse moteur droit DigitalOut sensMG(p23); // sens moteur gauche DigitalOut sensMD(p26); // sens moteur droit -Timer temp,t,t2; +Timer temp,t,t2,t3; Ticker tic1,tic2; int drap=1,flag1=0,flag2=0,flag3=0,flag4=0,flag5=0; float US1,US2,US3,AN1,AN2,US1_av=50,US2_av=50,US3_av=50,AN1_av=50,AN2_av=50; -float E_av,E,iE=0,E0=0,E1=0,E2=0,E3=0; +float E_av,E,iE=0,E0=0,E1=0; float cmdG=0,cmdD=0; int etat=0; float iecart=0,ecart_av,ecart; +float bearing,bearing_set;