christophe vermaelen
/
TEST_ASSER_MOT_ENCODEUR_V2
pour bastos
lib.h@0:e2ce7aa2a4a4, 2022-04-06 (annotated)
- Committer:
- vermaelen
- Date:
- Wed Apr 06 12:25:35 2022 +0000
- Revision:
- 0:e2ce7aa2a4a4
v2
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vermaelen | 0:e2ce7aa2a4a4 | 1 | #define Te 0.001 |
vermaelen | 0:e2ce7aa2a4a4 | 2 | #define Ti 1000 |
vermaelen | 0:e2ce7aa2a4a4 | 3 | #define K 5.0 |
vermaelen | 0:e2ce7aa2a4a4 | 4 | #define A 0.3 |
vermaelen | 0:e2ce7aa2a4a4 | 5 | #define V 1.5 |
vermaelen | 0:e2ce7aa2a4a4 | 6 | #define mmPULSE 1.487 |
vermaelen | 0:e2ce7aa2a4a4 | 7 | #define ENTREAXE 722.56//*(1+(4.185/360)) |
vermaelen | 0:e2ce7aa2a4a4 | 8 | #define DELAY 1 |
vermaelen | 0:e2ce7aa2a4a4 | 9 | #include "mbed.h" |
vermaelen | 0:e2ce7aa2a4a4 | 10 | #include "math.h" |
vermaelen | 0:e2ce7aa2a4a4 | 11 | #define DEBUG 0 //1 affiche les printf, 0 n'affiche rien |
vermaelen | 0:e2ce7aa2a4a4 | 12 | extern Timer temps; |
vermaelen | 0:e2ce7aa2a4a4 | 13 | extern int cptG; |
vermaelen | 0:e2ce7aa2a4a4 | 14 | extern int cptD; |
vermaelen | 0:e2ce7aa2a4a4 | 15 | extern DigitalOut sensG; |
vermaelen | 0:e2ce7aa2a4a4 | 16 | extern DigitalOut sensD; |
vermaelen | 0:e2ce7aa2a4a4 | 17 | extern PwmOut motG; |
vermaelen | 0:e2ce7aa2a4a4 | 18 | extern PwmOut motD; |
vermaelen | 0:e2ce7aa2a4a4 | 19 | extern InterruptIn AG,AD; |
vermaelen | 0:e2ce7aa2a4a4 | 20 | extern DigitalIn BG,BD; |
vermaelen | 0:e2ce7aa2a4a4 | 21 | extern Ticker tic,tac; |
vermaelen | 0:e2ce7aa2a4a4 | 22 | extern int cPosG,cPosD; |
vermaelen | 0:e2ce7aa2a4a4 | 23 | extern int erD,somErD; |
vermaelen | 0:e2ce7aa2a4a4 | 24 | extern int erG,somErG; |
vermaelen | 0:e2ce7aa2a4a4 | 25 | extern int cmdG,cmdD; |
vermaelen | 0:e2ce7aa2a4a4 | 26 | extern float cPos; |
vermaelen | 0:e2ce7aa2a4a4 | 27 | void distance(int); |
vermaelen | 0:e2ce7aa2a4a4 | 28 | void rotation(int); |
vermaelen | 0:e2ce7aa2a4a4 | 29 | void init(); |
vermaelen | 0:e2ce7aa2a4a4 | 30 | int borne(int); |
vermaelen | 0:e2ce7aa2a4a4 | 31 | void mot(int,int); |
vermaelen | 0:e2ce7aa2a4a4 | 32 | void asserPos(); |
vermaelen | 0:e2ce7aa2a4a4 | 33 | |
vermaelen | 0:e2ce7aa2a4a4 | 34 | void countGr(); |
vermaelen | 0:e2ce7aa2a4a4 | 35 | void countDr(); |
vermaelen | 0:e2ce7aa2a4a4 | 36 | void countGf(); |
vermaelen | 0:e2ce7aa2a4a4 | 37 | void countDf(); |
vermaelen | 0:e2ce7aa2a4a4 | 38 | void aff(); |