tuan din engku syasya syazwani
/
CACHAN_D_DAY_2
ROBOTIC COMPETITION PARIS 2017
Fork of _test_suivi_mur by
fct.h@7:64bfecbb3000, 2017-05-31 (annotated)
- Committer:
- syasya
- Date:
- Wed May 31 12:17:59 2017 +0000
- Revision:
- 7:64bfecbb3000
- Parent:
- 6:5f7df5c74a77
- Child:
- 9:7f62c0329849
with bearing;
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; |
vermaelen | 2:82b72fa8dbcd | 9 | extern DigitalOut trigger1; |
vermaelen | 2:82b72fa8dbcd | 10 | extern DigitalOut trigger2; |
vermaelen | 2:82b72fa8dbcd | 11 | extern DigitalOut trigger3; |
vermaelen | 2:82b72fa8dbcd | 12 | extern InterruptIn echo; |
vermaelen | 2:82b72fa8dbcd | 13 | extern AnalogIn AnaG; |
vermaelen | 2:82b72fa8dbcd | 14 | extern AnalogIn AnaAV; |
vermaelen | 2:82b72fa8dbcd | 15 | extern PwmOut MG; //vitesse moteur gauche |
vermaelen | 2:82b72fa8dbcd | 16 | extern PwmOut MD; //vitesse moteur droit |
vermaelen | 2:82b72fa8dbcd | 17 | extern DigitalOut sensMG; // sens moteur gauche |
vermaelen | 2:82b72fa8dbcd | 18 | extern DigitalOut sensMD; // sens moteur droit |
syasya | 7:64bfecbb3000 | 19 | extern Timer temp,t,t2,t3; |
vermaelen | 2:82b72fa8dbcd | 20 | extern Ticker tic1,tic2; |
syasya | 7:64bfecbb3000 | 21 | extern CMPS03 boussole; |
vermaelen | 2:82b72fa8dbcd | 22 | |
syasya | 7:64bfecbb3000 | 23 | |
syasya | 7:64bfecbb3000 | 24 | extern int etat; |
vermaelen | 2:82b72fa8dbcd | 25 | extern int drap,flag1,flag2,flag3,flag4,flag5; |
vermaelen | 3:b91371837109 | 26 | extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av; |
syasya | 7:64bfecbb3000 | 27 | extern float E_av,E,iE,E0,E1; |
vermaelen | 2:82b72fa8dbcd | 28 | extern float cmdG,cmdD; |
vermaelen | 2:82b72fa8dbcd | 29 | extern float iecart,ecart_av,ecart; |
syasya | 7:64bfecbb3000 | 30 | extern float bearing,bearing_set; |
vermaelen | 2:82b72fa8dbcd | 31 | |
vermaelen | 2:82b72fa8dbcd | 32 | |
vermaelen | 2:82b72fa8dbcd | 33 | //CONSTANTES |
vermaelen | 2:82b72fa8dbcd | 34 | #define PERIOD 0.0001 |
syasya | 7:64bfecbb3000 | 35 | #define VMAX 45 |
syasya | 7:64bfecbb3000 | 36 | #define VLIMIT 70 |
vermaelen | 4:78a9354fcee8 | 37 | #define Kp_dist 0.2 |
vermaelen | 5:3746060957fb | 38 | #define Kp_ecart 0.22 |
vermaelen | 2:82b72fa8dbcd | 39 | #define a 24.0 |
vermaelen | 2:82b72fa8dbcd | 40 | #define b 0.1 |
syasya | 7:64bfecbb3000 | 41 | |
vermaelen | 2:82b72fa8dbcd | 42 | //PROTOTYPES |
syasya | 7:64bfecbb3000 | 43 | void start_trig(); |
syasya | 7:64bfecbb3000 | 44 | void stop_trig(); |
syasya | 7:64bfecbb3000 | 45 | void stop(); |
vermaelen | 2:82b72fa8dbcd | 46 | void init(); |
syasya | 7:64bfecbb3000 | 47 | void suivi_mur(); |
syasya | 7:64bfecbb3000 | 48 | void contournement(); |
syasya | 7:64bfecbb3000 | 49 | void rotation_horaire(); |
vermaelen | 2:82b72fa8dbcd | 50 | void fcttrig(); |
vermaelen | 2:82b72fa8dbcd | 51 | void mesAN(); |
vermaelen | 2:82b72fa8dbcd | 52 | |
syasya | 7:64bfecbb3000 | 53 | float vitesse(float); |
syasya | 7:64bfecbb3000 | 54 | |
vermaelen | 2:82b72fa8dbcd | 55 | #endif |