christophe vermaelen
/
_test_suivi_mur
...
fct.h
- Committer:
- vermaelen
- Date:
- 2017-05-29
- Revision:
- 3:b91371837109
- Parent:
- 2:82b72fa8dbcd
- Child:
- 4:78a9354fcee8
File content as of revision 3:b91371837109:
#ifndef FCT_H #define FCT_H //GLOBALES extern BusOut leds; 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; extern Ticker tic1,tic2; 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,E2,E3; extern float cmdG,cmdD; extern int etat; extern float iecart,ecart_av,ecart; //CONSTANTES #define PERIOD 0.0001 #define VMOY 25 #define VMAX 60 #define Kp_dist 0.0 #define Kp_ecart 0.2 #define Td_ecart 0.0 #define Ti_ecart 1000.0 #define limitmin 3 #define limitmax 150 #define Te 0.001 #define Ti 2.0 #define a 24.0 #define b 0.1 //PROTOTYPES void contournement(); void stopMotor(); void suivi_mur(); void rotation_horaire(); void init(); void asservissement(); void fcttrig(); float vitesse(float); void start(); void stop(); float vitesse(float); void mesAN(); #endif