Alexandre Pirotte / Mbed 2 deprecated 0concours_cachan_programme_ok

ok

Dependencies:   mbed

Fork of _test_suivi_mur by christophe vermaelen

Diff: fct.h

Revision:
3:b91371837109
Parent:
2:82b72fa8dbcd
Child:
4:78a9354fcee8
--- a/fct.h	Sun May 28 17:36:57 2017 +0000
+++ b/fct.h	Mon May 29 12:01:43 2017 +0000
@@ -12,12 +12,12 @@
 extern PwmOut MD; //vitesse moteur droit
 extern DigitalOut sensMG;  // sens moteur gauche
 extern DigitalOut sensMD;  // sens moteur droit
-extern Timer temp,t;
+extern Timer temp,t,t2;
 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 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 int etat;
 extern float iecart,ecart_av,ecart;
@@ -25,10 +25,10 @@
 
 //CONSTANTES 
 #define PERIOD 0.0001
-#define VMOY 30
+#define VMOY 25
 #define VMAX 60
-#define Kp_E 0.42
-#define Kp_ecart 0.8
+#define Kp_dist 0.0
+#define Kp_ecart 0.2
 #define Td_ecart 0.0
 #define Ti_ecart 1000.0
 #define limitmin 3
@@ -38,6 +38,7 @@
 #define a 24.0
 #define b 0.1
 //PROTOTYPES
+void contournement();
 void stopMotor();
 void suivi_mur();
 void rotation_horaire();