Diff: fct.h

Revision:

7:2f4660e9cf92

Parent:

6:5f7df5c74a77

--- a/fct.h	Wed May 31 08:48:23 2017 +0000
+++ b/fct.h	Fri Jun 23 11:19:58 2017 +0000
@@ -12,21 +12,26 @@
 extern PwmOut MD; //vitesse moteur droit
 extern DigitalOut sensMG;  // sens moteur gauche
 extern DigitalOut sensMD;  // sens moteur droit
-extern Timer temp,t,t2;
+extern PwmOut servo;
+extern Timer temp,t,t2,tr,tb,to;
 extern Ticker tic1,tic2;
-
-extern int drap,flag1,flag2,flag3,flag4,flag5;
+extern DigitalIn jack, capb1,capb2;
+extern float capt_m,capt_d,capt_g,capt_ed,capt_eg,cap_lum,cap,tot_capt,pixy_cap,erreur_cap;
+extern int drap,flag1,flag2,flag3,flag4,flag5,start_memo_pixy;
 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 float cmdG,cmdD,turn;
 extern int etat;
-extern float iecart,ecart_av,ecart;
+extern float iecart,ecart_av,ecart,taille,turn;
+extern int j,capg,capd;
+extern int errorX , errorY,jck ;
+extern uint16_t blocks;
 
 
 //CONSTANTES 
 #define PERIOD 0.0001
 #define VMOY 45
-#define VMAX 70
+#define VMAX 50
 #define Kp_dist 0.2
 #define Kp_ecart 0.22
 #define Td_ecart 0.0
@@ -35,8 +40,24 @@
 #define limitmax 150
 #define Te 0.001
 #define Ti 2.0
-#define a 24.0
+#define a 59.6
 #define b 0.1
+#define seuil_taille 1800 //seuil auquel le robot arrete d'avancer 
+#define K 0.1// coef erreur pour asservissement
+#define V 30
+#define V_max 50
+#define V_moy 35
+#define lent 20
+#define gainUS 0.60
+#define gainUSM 0.40
+#define PERIOD 0.0001
+#define capt_max 120
+#define capt_min 20
+#define Kdist 1.4
+#define Kcap 0.5
+#define Dist_limit 90
+#define periode 0.02
+
 //PROTOTYPES
 void contournement();
 void stopMotor();
@@ -45,10 +66,11 @@
 void init();
 void asservissement();
 void fcttrig();
-float vitesse(float);
 void start();
 void stop();
-float vitesse(float);
+void vitesse(float, float);
 void mesAN();
+void servo_start(void);
+void servo_stop(void);
 
-#endif
+#endif
\ No newline at end of file