tuan din engku syasya syazwani / Mbed 2 deprecated CACHAN_D_DAY_2

ROBOTIC COMPETITION PARIS 2017

Dependencies:   CMPS03 mbed

Fork of _test_suivi_mur by christophe vermaelen

fct.h@10:1a69a6f659bd, 2017-06-01 (annotated)

Committer:
syasya
Date:
Thu Jun 01 07:54:55 2017 +0000
Revision:
10:1a69a6f659bd
Parent:
9:7f62c0329849
Child:
11:cb477f6ec781
w jack

Who changed what in which revision?

UserRevisionLine numberNew contents of line
vermaelen 2:82b72fa8dbcd 1 #ifndef FCT_H
vermaelen 2:82b72fa8dbcd 2 #define FCT_H
syasya 7:64bfecbb3000 3
syasya 7:64bfecbb3000 4 #include "CMPS03.h"
syasya 7:64bfecbb3000 5 #include "mbed.h"
syasya 7:64bfecbb3000 6
vermaelen 2:82b72fa8dbcd 7 //GLOBALES
vermaelen 2:82b72fa8dbcd 8 extern BusOut leds;
syasya 10:1a69a6f659bd 9 extern DigitalIn jack;
vermaelen 2:82b72fa8dbcd 10 extern DigitalOut trigger1;
vermaelen 2:82b72fa8dbcd 11 extern DigitalOut trigger2;
vermaelen 2:82b72fa8dbcd 12 extern DigitalOut trigger3;
vermaelen 2:82b72fa8dbcd 13 extern InterruptIn echo;
vermaelen 2:82b72fa8dbcd 14 extern AnalogIn AnaG;
vermaelen 2:82b72fa8dbcd 15 extern AnalogIn AnaAV;
vermaelen 2:82b72fa8dbcd 16 extern PwmOut MG; //vitesse moteur gauche
vermaelen 2:82b72fa8dbcd 17 extern PwmOut MD; //vitesse moteur droit
vermaelen 2:82b72fa8dbcd 18 extern DigitalOut sensMG; // sens moteur gauche
vermaelen 2:82b72fa8dbcd 19 extern DigitalOut sensMD; // sens moteur droit
syasya 7:64bfecbb3000 20 extern Timer temp,t,t2,t3;
vermaelen 2:82b72fa8dbcd 21 extern Ticker tic1,tic2;
syasya 7:64bfecbb3000 22 extern CMPS03 boussole;
vermaelen 2:82b72fa8dbcd 23
syasya 7:64bfecbb3000 24
syasya 7:64bfecbb3000 25 extern int etat;
vermaelen 2:82b72fa8dbcd 26 extern int drap,flag1,flag2,flag3,flag4,flag5;
vermaelen 3:b91371837109 27 extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av;
syasya 7:64bfecbb3000 28 extern float E_av,E,iE,E0,E1;
vermaelen 2:82b72fa8dbcd 29 extern float cmdG,cmdD;
vermaelen 2:82b72fa8dbcd 30 extern float iecart,ecart_av,ecart;
syasya 7:64bfecbb3000 31 extern float bearing,bearing_set;
vermaelen 2:82b72fa8dbcd 32
vermaelen 2:82b72fa8dbcd 33
vermaelen 2:82b72fa8dbcd 34 //CONSTANTES
vermaelen 2:82b72fa8dbcd 35 #define PERIOD 0.0001
syasya 10:1a69a6f659bd 36 #define VMAX 30
syasya 7:64bfecbb3000 37 #define VLIMIT 70
vermaelen 4:78a9354fcee8 38 #define Kp_dist 0.2
vermaelen 5:3746060957fb 39 #define Kp_ecart 0.22
vermaelen 2:82b72fa8dbcd 40 #define a 24.0
vermaelen 2:82b72fa8dbcd 41 #define b 0.1
syasya 7:64bfecbb3000 42
vermaelen 2:82b72fa8dbcd 43 //PROTOTYPES
syasya 9:7f62c0329849 44 void en_avant();
syasya 7:64bfecbb3000 45 void start_trig();
syasya 7:64bfecbb3000 46 void stop_trig();
syasya 7:64bfecbb3000 47 void stop();
vermaelen 2:82b72fa8dbcd 48 void init();
syasya 7:64bfecbb3000 49 void suivi_mur();
syasya 7:64bfecbb3000 50 void contournement();
syasya 7:64bfecbb3000 51 void rotation_horaire();
vermaelen 2:82b72fa8dbcd 52 void fcttrig();
vermaelen 2:82b72fa8dbcd 53 void mesAN();
vermaelen 2:82b72fa8dbcd 54
syasya 7:64bfecbb3000 55 float vitesse(float);
syasya 7:64bfecbb3000 56
vermaelen 2:82b72fa8dbcd 57 #endif