globals.cpp

00001 #include "mbed.h"
00002 #include "CMPS03.h"
00003 BusOut leds(LED1,LED2,LED3,LED4);
00004 CMPS03 boussole(p9,p10,CMPS03_DEFAULT_I2C_ADDRESS);
00005 DigitalIn jack(p12);
00006 DigitalIn capt1(p29);
00007 DigitalIn capt2(p30);
00008 DigitalOut smoke(p13);
00009 DigitalOut trigger1(p14);
00010 DigitalOut trigger2(p16);
00011 DigitalOut trigger3(p18);
00012 InterruptIn echo(p11);
00013 AnalogIn AnaG(p17);
00014 AnalogIn AnaAV(p15);
00015 PwmOut servo(p22);
00016 PwmOut MD(p21); //vitesse moteur gauche
00017 PwmOut MG(p24); //vitesse moteur droit
00018 DigitalOut sensMG(p23);  // sens moteur gauche
00019 DigitalOut sensMD(p26);  // sens moteur droit
00020 Timer temp,t,t2,t3,t4,t5;
00021 Ticker tic1,tic2,tic3;
00022 
00023 int t3_set=10;
00024 int capt_memo=0,capt=0;
00025 int drap=1,flag1=0,flag2=0,flag3=0,flag4=0,flag5=0;
00026 float US1,US2,US3,AN1,AN2,US1_av=50,US2_av=50,US3_av=50,AN1_av=50,AN2_av=50,AN3=0;
00027 float E_av,E,iE=0,E0=0,E1=0;
00028 float cmdG=0,cmdD=0;
00029 int etat=0;
00030 float iecart=0,ecart_av,ecart;
00031 float bearing,bearing_set,bearing_turn;
00032 
00033 int nombre=0;