Alexandre Pirotte / Mbed 2 deprecated 0concours_cachan_programme_ok

ok

Dependencies:   mbed

Fork of _test_suivi_mur by christophe vermaelen

fct.h@7:2f4660e9cf92, 2017-06-23 (annotated)

Committer:
pirottealex
Date:
Fri Jun 23 11:19:58 2017 +0000
Revision:
7:2f4660e9cf92
Parent:
6:5f7df5c74a77 
pixy_ok2;

Who changed what in which revision?

UserRevisionLine numberNew 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
pirottealex 7:2f4660e9cf92 15 extern PwmOut servo;
pirottealex 7:2f4660e9cf92 16 extern Timer temp,t,t2,tr,tb,to;
vermaelen 2:82b72fa8dbcd 17 extern Ticker tic1,tic2;
pirottealex 7:2f4660e9cf92 18 extern DigitalIn jack, capb1,capb2;
pirottealex 7:2f4660e9cf92 19 extern float capt_m,capt_d,capt_g,capt_ed,capt_eg,cap_lum,cap,tot_capt,pixy_cap,erreur_cap;
pirottealex 7:2f4660e9cf92 20 extern int drap,flag1,flag2,flag3,flag4,flag5,start_memo_pixy;
vermaelen 3:b91371837109 21 extern float US1,US2,US3,AN1,AN2,US1_av,US2_av,US3_av,AN1_av,AN2_av;
vermaelen 3:b91371837109 22 extern float E_av,E,iE,E0,E1,E2,E3;
pirottealex 7:2f4660e9cf92 23 extern float cmdG,cmdD,turn;
vermaelen 2:82b72fa8dbcd 24 extern int etat;
pirottealex 7:2f4660e9cf92 25 extern float iecart,ecart_av,ecart,taille,turn;
pirottealex 7:2f4660e9cf92 26 extern int j,capg,capd;
pirottealex 7:2f4660e9cf92 27 extern int errorX , errorY,jck ;
pirottealex 7:2f4660e9cf92 28 extern uint16_t blocks;
vermaelen 2:82b72fa8dbcd 29
vermaelen 2:82b72fa8dbcd 30
vermaelen 2:82b72fa8dbcd 31 //CONSTANTES
vermaelen 2:82b72fa8dbcd 32 #define PERIOD 0.0001
vermaelen 6:5f7df5c74a77 33 #define VMOY 45
pirottealex 7:2f4660e9cf92 34 #define VMAX 50
vermaelen 4:78a9354fcee8 35 #define Kp_dist 0.2
vermaelen 5:3746060957fb 36 #define Kp_ecart 0.22
vermaelen 2:82b72fa8dbcd 37 #define Td_ecart 0.0
vermaelen 2:82b72fa8dbcd 38 #define Ti_ecart 1000.0
vermaelen 2:82b72fa8dbcd 39 #define limitmin 3
vermaelen 2:82b72fa8dbcd 40 #define limitmax 150
vermaelen 2:82b72fa8dbcd 41 #define Te 0.001
vermaelen 2:82b72fa8dbcd 42 #define Ti 2.0
pirottealex 7:2f4660e9cf92 43 #define a 59.6
vermaelen 2:82b72fa8dbcd 44 #define b 0.1
pirottealex 7:2f4660e9cf92 45 #define seuil_taille 1800 //seuil auquel le robot arrete d'avancer
pirottealex 7:2f4660e9cf92 46 #define K 0.1// coef erreur pour asservissement
pirottealex 7:2f4660e9cf92 47 #define V 30
pirottealex 7:2f4660e9cf92 48 #define V_max 50
pirottealex 7:2f4660e9cf92 49 #define V_moy 35
pirottealex 7:2f4660e9cf92 50 #define lent 20
pirottealex 7:2f4660e9cf92 51 #define gainUS 0.60
pirottealex 7:2f4660e9cf92 52 #define gainUSM 0.40
pirottealex 7:2f4660e9cf92 53 #define PERIOD 0.0001
pirottealex 7:2f4660e9cf92 54 #define capt_max 120
pirottealex 7:2f4660e9cf92 55 #define capt_min 20
pirottealex 7:2f4660e9cf92 56 #define Kdist 1.4
pirottealex 7:2f4660e9cf92 57 #define Kcap 0.5
pirottealex 7:2f4660e9cf92 58 #define Dist_limit 90
pirottealex 7:2f4660e9cf92 59 #define periode 0.02
pirottealex 7:2f4660e9cf92 60
vermaelen 2:82b72fa8dbcd 61 //PROTOTYPES
vermaelen 3:b91371837109 62 void contournement();
vermaelen 2:82b72fa8dbcd 63 void stopMotor();
vermaelen 2:82b72fa8dbcd 64 void suivi_mur();
vermaelen 2:82b72fa8dbcd 65 void rotation_horaire();
vermaelen 2:82b72fa8dbcd 66 void init();
vermaelen 2:82b72fa8dbcd 67 void asservissement();
vermaelen 2:82b72fa8dbcd 68 void fcttrig();
vermaelen 2:82b72fa8dbcd 69 void start();
vermaelen 2:82b72fa8dbcd 70 void stop();
pirottealex 7:2f4660e9cf92 71 void vitesse(float, float);
vermaelen 2:82b72fa8dbcd 72 void mesAN();
pirottealex 7:2f4660e9cf92 73 void servo_start(void);
pirottealex 7:2f4660e9cf92 74 void servo_stop(void);
vermaelen 2:82b72fa8dbcd 75
pirottealex 7:2f4660e9cf92 76 #endif