tuan din engku syasya syazwani
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CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
fct.h@13:4fdd8ad91c69, 2018-01-22 (annotated)
- Committer:
- syasya
- Date:
- Mon Jan 22 19:32:00 2018 +0000
- Revision:
- 13:4fdd8ad91c69
- Parent:
- 12:6151eb503170
ROBOTIQUE COMPETITION PARIS
Who changed what in which revision?
User | Revision | Line number | New 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; |
syasya | 13:4fdd8ad91c69 | 10 | extern DigitalIn capt2; |
syasya | 13:4fdd8ad91c69 | 11 | extern DigitalIn capt1; |
syasya | 13:4fdd8ad91c69 | 12 | extern DigitalOut smoke; |
vermaelen | 2:82b72fa8dbcd | 13 | extern DigitalOut trigger1; |
vermaelen | 2:82b72fa8dbcd | 14 | extern DigitalOut trigger2; |
vermaelen | 2:82b72fa8dbcd | 15 | extern DigitalOut trigger3; |
vermaelen | 2:82b72fa8dbcd | 16 | extern InterruptIn echo; |
vermaelen | 2:82b72fa8dbcd | 17 | extern AnalogIn AnaG; |
vermaelen | 2:82b72fa8dbcd | 18 | extern AnalogIn AnaAV; |
syasya | 13:4fdd8ad91c69 | 19 | extern PwmOut servo; |
vermaelen | 2:82b72fa8dbcd | 20 | extern PwmOut MG; //vitesse moteur gauche |
vermaelen | 2:82b72fa8dbcd | 21 | extern PwmOut MD; //vitesse moteur droit |
vermaelen | 2:82b72fa8dbcd | 22 | extern DigitalOut sensMG; // sens moteur gauche |
vermaelen | 2:82b72fa8dbcd | 23 | extern DigitalOut sensMD; // sens moteur droit |
syasya | 13:4fdd8ad91c69 | 24 | extern Timer temp,t,t2,t3,t4,t5; |
syasya | 13:4fdd8ad91c69 | 25 | extern Ticker tic1,tic2,tic3; |
syasya | 7:64bfecbb3000 | 26 | extern CMPS03 boussole; |
vermaelen | 2:82b72fa8dbcd | 27 | |
syasya | 13:4fdd8ad91c69 | 28 | extern int nombre; |
syasya | 13:4fdd8ad91c69 | 29 | extern int capt,capt_memo; |
syasya | 13:4fdd8ad91c69 | 30 | extern int etat,t3_set; |
vermaelen | 2:82b72fa8dbcd | 31 | extern int drap,flag1,flag2,flag3,flag4,flag5; |
syasya | 13:4fdd8ad91c69 | 32 | extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av,AN3; |
syasya | 7:64bfecbb3000 | 33 | extern float E_av,E,iE,E0,E1; |
vermaelen | 2:82b72fa8dbcd | 34 | extern float cmdG,cmdD; |
vermaelen | 2:82b72fa8dbcd | 35 | extern float iecart,ecart_av,ecart; |
syasya | 13:4fdd8ad91c69 | 36 | extern float bearing,bearing_set,bearing_turn; |
vermaelen | 2:82b72fa8dbcd | 37 | |
vermaelen | 2:82b72fa8dbcd | 38 | |
vermaelen | 2:82b72fa8dbcd | 39 | //CONSTANTES |
vermaelen | 2:82b72fa8dbcd | 40 | #define PERIOD 0.0001 |
syasya | 13:4fdd8ad91c69 | 41 | #define VMAX 60 |
syasya | 7:64bfecbb3000 | 42 | #define VLIMIT 70 |
vermaelen | 4:78a9354fcee8 | 43 | #define Kp_dist 0.2 |
vermaelen | 5:3746060957fb | 44 | #define Kp_ecart 0.22 |
vermaelen | 2:82b72fa8dbcd | 45 | #define a 24.0 |
vermaelen | 2:82b72fa8dbcd | 46 | #define b 0.1 |
syasya | 7:64bfecbb3000 | 47 | |
vermaelen | 2:82b72fa8dbcd | 48 | //PROTOTYPES |
syasya | 9:7f62c0329849 | 49 | void en_avant(); |
syasya | 7:64bfecbb3000 | 50 | void start_trig(); |
syasya | 7:64bfecbb3000 | 51 | void stop_trig(); |
syasya | 7:64bfecbb3000 | 52 | void stop(); |
vermaelen | 2:82b72fa8dbcd | 53 | void init(); |
syasya | 7:64bfecbb3000 | 54 | void suivi_mur(); |
syasya | 13:4fdd8ad91c69 | 55 | void suivi_mur_dist(); |
syasya | 7:64bfecbb3000 | 56 | void contournement(); |
syasya | 7:64bfecbb3000 | 57 | void rotation_horaire(); |
syasya | 12:6151eb503170 | 58 | void rotation_sharp(); |
vermaelen | 2:82b72fa8dbcd | 59 | void fcttrig(); |
vermaelen | 2:82b72fa8dbcd | 60 | void mesAN(); |
syasya | 13:4fdd8ad91c69 | 61 | void ballon(); |
syasya | 13:4fdd8ad91c69 | 62 | void fume(); |
vermaelen | 2:82b72fa8dbcd | 63 | |
syasya | 7:64bfecbb3000 | 64 | float vitesse(float); |
syasya | 7:64bfecbb3000 | 65 | |
vermaelen | 2:82b72fa8dbcd | 66 | #endif |