tuan din engku syasya syazwani
/
CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
fct.h
- Committer:
- syasya
- Date:
- 2017-05-31
- Revision:
- 9:7f62c0329849
- Parent:
- 7:64bfecbb3000
- Child:
- 10:1a69a6f659bd
File content as of revision 9:7f62c0329849:
#ifndef FCT_H #define FCT_H #include "CMPS03.h" #include "mbed.h" //GLOBALES extern BusOut leds; extern DigitalOut trigger1; extern DigitalOut trigger2; extern DigitalOut trigger3; extern InterruptIn echo; extern AnalogIn AnaG; extern AnalogIn AnaAV; 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 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; extern float cmdG,cmdD; extern float iecart,ecart_av,ecart; extern float bearing,bearing_set; //CONSTANTES #define PERIOD 0.0001 #define VMAX 45 #define VLIMIT 70 #define Kp_dist 0.2 #define Kp_ecart 0.22 #define a 24.0 #define b 0.1 //PROTOTYPES void en_avant(); void start_trig(); void stop_trig(); void stop(); void init(); void suivi_mur(); void contournement(); void rotation_horaire(); void fcttrig(); void mesAN(); float vitesse(float); #endif