tuan din engku syasya syazwani
/
CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
globals.cpp
- Committer:
- syasya
- Date:
- 2017-05-31
- Revision:
- 7:64bfecbb3000
- Parent:
- 3:b91371837109
- Child:
- 10:1a69a6f659bd
File content as of revision 7:64bfecbb3000:
#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); InterruptIn echo(p11); AnalogIn AnaG(p17); AnalogIn AnaAV(p15); PwmOut MD(p21); //vitesse moteur gauche PwmOut MG(p24); //vitesse moteur droit DigitalOut sensMG(p23); // sens moteur gauche DigitalOut sensMD(p26); // sens moteur droit 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; float cmdG=0,cmdD=0; int etat=0; float iecart=0,ecart_av,ecart; float bearing,bearing_set;