tuan din engku syasya syazwani / Mbed 2 deprecated CACHAN_D_DAY_2

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Dependencies:   CMPS03 mbed

Fork of _test_suivi_mur by christophe vermaelen

fct.h

Committer:
syasya
Date:
2017-06-01
Revision:
10:1a69a6f659bd
Parent:
9:7f62c0329849
Child:
11:cb477f6ec781

File content as of revision 10:1a69a6f659bd:

#ifndef FCT_H
#define FCT_H

#include "CMPS03.h"
#include "mbed.h"

//GLOBALES
extern BusOut leds;
extern DigitalIn  jack;
extern DigitalOut trigger1;
extern DigitalOut trigger2;
extern DigitalOut trigger3;
extern InterruptIn echo;
extern AnalogIn AnaG;
extern AnalogIn AnaAV;
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 CMPS03 boussole;


extern int etat;
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 E_av,E,iE,E0,E1;
extern float cmdG,cmdD;
extern float iecart,ecart_av,ecart;
extern float bearing,bearing_set;


//CONSTANTES 
#define PERIOD 0.0001
#define VMAX 30
#define VLIMIT 70
#define Kp_dist 0.2
#define Kp_ecart 0.22
#define a 24.0
#define b 0.1

//PROTOTYPES
void en_avant();
void start_trig();
void stop_trig();
void stop();
void init();
void suivi_mur();
void contournement();
void rotation_horaire();
void fcttrig();
void mesAN();

float vitesse(float);

#endif