File content as of revision 7:2f4660e9cf92:

#include "mbed.h"
#include "fct.h"

void stopMotor()
{
    vitesse(0,0);
}

void init()
{
    capb1.mode(PullUp);
    capb2.mode(PullUp);
    servo_stop();
    jack.mode(PullUp);
    MG.period(PERIOD);
    MD.period(PERIOD);
    vitesse(0,0);
    tic1.attach(&fcttrig,0.035);
    tic2.attach(&mesAN,0.01);
    echo.rise(&start);
    echo.fall(&stop);

}
void mesAN()
{
    if(flag4==0) {
        AN1_av=AN1;
    }
    AN1=a/(3.3*AnaG.read()-b);
    if(((AN1-AN1_av)>50)||((AN1-AN1_av)<-50)) {
        float temp=AN1;
        AN1=AN1_av;
        AN1_av=temp;
        flag4=1;
    } else {
        flag4=0;
    }
    if((AN1<0)||(AN1>120))AN1=120;



    if(flag5==0) {
        AN2_av=AN2;
    }
    AN2=a/(3.3*AnaAV.read()-b);

    if(((AN2-AN2_av)>50)||((AN2-AN2_av)<-50)) {
        float temp=AN2;
        AN2=AN2_av;
        AN2_av=temp;
        flag5=1;
    } else {
        flag5=0;
    }
    if((AN2<0)||(AN2>120))AN2=120;
    capt_d=AN1;
    capt_g=AN2;
}


void fcttrig()
{
    switch(drap) {
        case 1 :
            trigger2.write(1);
            wait_us(10);
            trigger2.write(0);
            drap=2;
            break;
        case 2 :
            trigger3.write(1);
            wait_us(10);
            trigger3.write(0);
            drap=3;
            break;
        case 3 :
            trigger1.write(1);
            wait_us(10);
            trigger1.write(0);
            drap=1;
            break;
    }

}
void start()
{
    temp.reset();
    temp.start();
}
void stop()
{
    temp.stop();
    switch(drap) {
        case 1 :
            if(flag3==0) {
                US3_av=US3;
            }
            US3=temp.read_us()/58.31;
            if(((US3-US3_av)>50)||((US3-US3_av)<-50)) {
                float temp=US3;
                US3=US3_av;
                US3_av=temp;
                flag3=1;
            } else {
                flag3=0;
            }
            if(US3>capt_max)US3=capt_max;
            if(US3<capt_min)US3=capt_min;
            break;
        case 2 :
            if(flag2==0) {
                US2_av=US2;
            }
            US2=temp.read_us()/58.31;
            if(((US2-US2_av)>50)||((US2-US2_av)<-50)) {
                float temp=US2;
                US2=US2_av;
                US2_av=temp;
                flag2=1;
            } else {
                flag2=0;
            }
            if(US2>capt_max)US2=capt_max;
            if(US2<capt_min)US2=capt_min;
            break;
        case 3 :
            if(flag1==0) {
                US1_av=US1;
            }
            US1=temp.read_us()/58.31;
            if(((US1-US1_av)>50)||((US1-US1_av)<-50)) {
                float temp=US1;
                US1=US1_av;
                US1_av=temp;
                flag1=1;
            } else {
                flag1=0;
            }
            if(US1>capt_max)US1=capt_max;
            if(US1<capt_min)US1=capt_min;
            break;
    }
    capt_ed=US1;
    capt_eg=US3;
    capt_m=US2;
}
void vitesse(float vitG, float vitD)
{
    if(vitG<0) {
        vitG=-1*vitG;
        sensMG.write(1);
    } else sensMG.write(0);
    MG.pulsewidth(((vitG)/100.0)*PERIOD);
    if(vitD<0) {
        vitD=-1*vitD;
        sensMD.write(1);
    } else sensMD.write(0);
    MD.pulsewidth(((vitD)/100.0)*PERIOD);
}

void servo_start(void)
{
    servo.period(periode);
    turn=18.8;
    servo.pulsewidth_ms(turn);
    wait(0.25);
    turn=19.8;
    servo.pulsewidth_ms(turn);
    wait(0.25);
}

void servo_stop(void)
{
    servo.period(periode);
    turn=18.8;
    servo.pulsewidth_ms(turn);
}