Diff: fct.h

Revision:

13:4fdd8ad91c69

Parent:

12:6151eb503170

diff -r 6151eb503170 -r 4fdd8ad91c69 fct.h
--- a/fct.h	Thu Jun 01 09:30:37 2017 +0000
+++ b/fct.h	Mon Jan 22 19:32:00 2018 +0000
@@ -7,33 +7,38 @@
 //GLOBALES
 extern BusOut leds;
 extern DigitalIn  jack;
+extern DigitalIn capt2;
+extern DigitalIn capt1;
+extern DigitalOut smoke;
 extern DigitalOut trigger1;
 extern DigitalOut trigger2;
 extern DigitalOut trigger3;
 extern InterruptIn echo;
 extern AnalogIn AnaG;
 extern AnalogIn AnaAV;
+extern PwmOut servo;
 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 Timer temp,t,t2,t3,t4,t5;
+extern Ticker tic1,tic2,tic3;
 extern CMPS03 boussole;
 
-
-extern int etat,t_set;
+extern int nombre;
+extern int capt,capt_memo;
+extern int etat,t3_set;
 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 US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av,AN3; 
 extern float E_av,E,iE,E0,E1;
 extern float cmdG,cmdD;
 extern float iecart,ecart_av,ecart;
-extern float bearing,bearing_set;
+extern float bearing,bearing_set,bearing_turn;
 
 
 //CONSTANTES 
 #define PERIOD 0.0001
-#define VMAX 30
+#define VMAX 60
 #define VLIMIT 70
 #define Kp_dist 0.2
 #define Kp_ecart 0.22
@@ -47,13 +52,15 @@
 void stop();
 void init();
 void suivi_mur();
+void suivi_mur_dist();
 void contournement();
 void rotation_horaire();
 void rotation_sharp();
 void fcttrig();
 void mesAN();
+void ballon();
+void fume();
 
 float vitesse(float);
 
-
 #endif