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

Diff: globals.cpp

Revision:
7:64bfecbb3000
Parent:
3:b91371837109
Child:
10:1a69a6f659bd
diff -r 5f7df5c74a77 -r 64bfecbb3000 globals.cpp
--- a/globals.cpp	Wed May 31 08:48:23 2017 +0000
+++ b/globals.cpp	Wed May 31 12:17:59 2017 +0000
@@ -1,5 +1,7 @@
 #include "mbed.h"
+#include "CMPS03.h"
 BusOut leds(LED1,LED2,LED3,LED4);
+CMPS03 boussole(p9,p10,CMPS03_DEFAULT_I2C_ADDRESS);
 DigitalOut trigger1(p14);
 DigitalOut trigger2(p16);
 DigitalOut trigger3(p18);
@@ -10,13 +12,14 @@
 PwmOut MG(p24); //vitesse moteur droit
 DigitalOut sensMG(p23);  // sens moteur gauche
 DigitalOut sensMD(p26);  // sens moteur droit
-Timer temp,t,t2;
+Timer temp,t,t2,t3;
 Ticker tic1,tic2;
 
 int drap=1,flag1=0,flag2=0,flag3=0,flag4=0,flag5=0;
 float US1,US2,US3,AN1,AN2,US1_av=50,US2_av=50,US3_av=50,AN1_av=50,AN2_av=50;
-float E_av,E,iE=0,E0=0,E1=0,E2=0,E3=0;
+float E_av,E,iE=0,E0=0,E1=0;
 float cmdG=0,cmdD=0;
 int etat=0;
 float iecart=0,ecart_av,ecart;
+float bearing,bearing_set;