File content as of revision 4:78a9354fcee8:

#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,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,E0,E1,E2,E3;
extern float cmdG,cmdD;
extern int etat;
extern float iecart,ecart_av,ecart;


//CONSTANTES 
#define PERIOD 0.0001
#define VMOY 35
#define VMAX 60
#define Kp_dist 0.2
#define Kp_ecart 0.2
#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 contournement();
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