File content as of revision 7:2f4660e9cf92:

#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 PwmOut servo;
extern Timer temp,t,t2,tr,tb,to;
extern Ticker tic1,tic2;
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,turn;
extern int etat;
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 50
#define Kp_dist 0.2
#define Kp_ecart 0.22
#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 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();
void suivi_mur();
void rotation_horaire();
void init();
void asservissement();
void fcttrig();
void start();
void stop();
void vitesse(float, float);
void mesAN();
void servo_start(void);
void servo_stop(void);

#endif