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fct.h@4:78a9354fcee8, 2017-05-29 (annotated)
- Committer:
- vermaelen
- Date:
- Mon May 29 16:50:40 2017 +0000
- Revision:
- 4:78a9354fcee8
- Parent:
- 3:b91371837109
- Child:
- 5:3746060957fb
VERSION QUI FONCTIONNE
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
vermaelen | 2:82b72fa8dbcd | 1 | #ifndef FCT_H |
vermaelen | 2:82b72fa8dbcd | 2 | #define FCT_H |
vermaelen | 2:82b72fa8dbcd | 3 | //GLOBALES |
vermaelen | 2:82b72fa8dbcd | 4 | extern BusOut leds; |
vermaelen | 2:82b72fa8dbcd | 5 | extern DigitalOut trigger1; |
vermaelen | 2:82b72fa8dbcd | 6 | extern DigitalOut trigger2; |
vermaelen | 2:82b72fa8dbcd | 7 | extern DigitalOut trigger3; |
vermaelen | 2:82b72fa8dbcd | 8 | extern InterruptIn echo; |
vermaelen | 2:82b72fa8dbcd | 9 | extern AnalogIn AnaG; |
vermaelen | 2:82b72fa8dbcd | 10 | extern AnalogIn AnaAV; |
vermaelen | 2:82b72fa8dbcd | 11 | extern PwmOut MG; //vitesse moteur gauche |
vermaelen | 2:82b72fa8dbcd | 12 | extern PwmOut MD; //vitesse moteur droit |
vermaelen | 2:82b72fa8dbcd | 13 | extern DigitalOut sensMG; // sens moteur gauche |
vermaelen | 2:82b72fa8dbcd | 14 | extern DigitalOut sensMD; // sens moteur droit |
vermaelen | 3:b91371837109 | 15 | extern Timer temp,t,t2; |
vermaelen | 2:82b72fa8dbcd | 16 | extern Ticker tic1,tic2; |
vermaelen | 2:82b72fa8dbcd | 17 | |
vermaelen | 2:82b72fa8dbcd | 18 | extern int drap,flag1,flag2,flag3,flag4,flag5; |
vermaelen | 3:b91371837109 | 19 | extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av; |
vermaelen | 3:b91371837109 | 20 | extern float E_av,E,iE,E0,E1,E2,E3; |
vermaelen | 2:82b72fa8dbcd | 21 | extern float cmdG,cmdD; |
vermaelen | 2:82b72fa8dbcd | 22 | extern int etat; |
vermaelen | 2:82b72fa8dbcd | 23 | extern float iecart,ecart_av,ecart; |
vermaelen | 2:82b72fa8dbcd | 24 | |
vermaelen | 2:82b72fa8dbcd | 25 | |
vermaelen | 2:82b72fa8dbcd | 26 | //CONSTANTES |
vermaelen | 2:82b72fa8dbcd | 27 | #define PERIOD 0.0001 |
vermaelen | 4:78a9354fcee8 | 28 | #define VMOY 35 |
vermaelen | 2:82b72fa8dbcd | 29 | #define VMAX 60 |
vermaelen | 4:78a9354fcee8 | 30 | #define Kp_dist 0.2 |
vermaelen | 3:b91371837109 | 31 | #define Kp_ecart 0.2 |
vermaelen | 2:82b72fa8dbcd | 32 | #define Td_ecart 0.0 |
vermaelen | 2:82b72fa8dbcd | 33 | #define Ti_ecart 1000.0 |
vermaelen | 2:82b72fa8dbcd | 34 | #define limitmin 3 |
vermaelen | 2:82b72fa8dbcd | 35 | #define limitmax 150 |
vermaelen | 2:82b72fa8dbcd | 36 | #define Te 0.001 |
vermaelen | 2:82b72fa8dbcd | 37 | #define Ti 2.0 |
vermaelen | 2:82b72fa8dbcd | 38 | #define a 24.0 |
vermaelen | 2:82b72fa8dbcd | 39 | #define b 0.1 |
vermaelen | 2:82b72fa8dbcd | 40 | //PROTOTYPES |
vermaelen | 3:b91371837109 | 41 | void contournement(); |
vermaelen | 2:82b72fa8dbcd | 42 | void stopMotor(); |
vermaelen | 2:82b72fa8dbcd | 43 | void suivi_mur(); |
vermaelen | 2:82b72fa8dbcd | 44 | void rotation_horaire(); |
vermaelen | 2:82b72fa8dbcd | 45 | void init(); |
vermaelen | 2:82b72fa8dbcd | 46 | void asservissement(); |
vermaelen | 2:82b72fa8dbcd | 47 | void fcttrig(); |
vermaelen | 2:82b72fa8dbcd | 48 | float vitesse(float); |
vermaelen | 2:82b72fa8dbcd | 49 | void start(); |
vermaelen | 2:82b72fa8dbcd | 50 | void stop(); |
vermaelen | 2:82b72fa8dbcd | 51 | float vitesse(float); |
vermaelen | 2:82b72fa8dbcd | 52 | void mesAN(); |
vermaelen | 2:82b72fa8dbcd | 53 | |
vermaelen | 2:82b72fa8dbcd | 54 | #endif |