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Dependencies:   L432KC_SPI_Pey_Lal

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Show/hide line numbers main.hpp Source File

main.hpp

00001 #ifndef MAIN_HPP
00002 #define MAIN_HPP
00003 
00004 //Define PWM
00005 #define PWM_PROP    D9
00006 #define PWM_DIR     D10
00007 
00008 //Define interrupt Input
00009 #define SPEED_CAPTOR A4
00010 
00011 //Define COEF
00012 #define POINT_PER_TURN 5.0
00013 #define WHEEL_DIAMETER 0.069
00014 #define DISTANCE_FOR_HALF_TURN (PI * WHEEL_DIAMETER / POINT_PER_TURN)         //TODO: mettre vrai valeur
00015 #define CONTROL_RATE 1000.0
00016 
00017 //fontion interrupt
00018 void onRxInterrupt();
00019 void onSpeedCaptorInterrupt();
00020 void onTickerAsservissementInterrupt();
00021 
00022 #endif
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