Alexandre Pirotte / Mbed 2 deprecated 0concours_cachan_programme_ok

ok

Dependencies:   mbed

Fork of _test_suivi_mur by christophe vermaelen

Diff: fct.h

Revision:
2:82b72fa8dbcd
Child:
3:b91371837109
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/fct.h	Sun May 28 17:36:57 2017 +0000
@@ -0,0 +1,53 @@
+#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;
+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;
+extern float cmdG,cmdD;
+extern int etat;
+extern float iecart,ecart_av,ecart;
+
+
+//CONSTANTES 
+#define PERIOD 0.0001
+#define VMOY 30
+#define VMAX 60
+#define Kp_E 0.42
+#define Kp_ecart 0.8
+#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 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