BERTL_CHEL18 / ur_Bertl

Class Bertl added

Dependencies:   HCSR

Dependents:   BERTL_ButtonLeds Bertl_Arbeit FollowLine SerialPC ... more

Fork of ur_Bertl by BULME_BERTL_2CHEL

const.h@4:76acfddc26fb, 2015-04-07 (annotated)

Committer:
bulmecisco
Date:
Tue Apr 07 12:30:39 2015 +0000
Revision:
4:76acfddc26fb
Parent:
3:01b183fe8b41
Child:
6:df6830254e8b
Predicats added, such as FrontIsClear(), NextToABeeper(), AnyBeepersInBeeperBag(), ...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bulmecisco 0:66e9a0afcbd6 1 /*! \file const.h
bulmecisco 0:66e9a0afcbd6 2 \brief A Documented file.
bulmecisco 4:76acfddc26fb 3 * name: const.h Version: 1.0 \n
bulmecisco 4:76acfddc26fb 4 * author: PE HTL BULME \n
bulmecisco 4:76acfddc26fb 5 * email: pe@bulme.at \n
bulmecisco 0:66e9a0afcbd6 6 * description:
bulmecisco 0:66e9a0afcbd6 7 * Constants for ur_Bertl The Robot
bulmecisco 0:66e9a0afcbd6 8 */
bulmecisco 0:66e9a0afcbd6 9 #ifndef CONST_H
bulmecisco 0:66e9a0afcbd6 10 #define CONST_H
bulmecisco 3:01b183fe8b41 11 #define TIME
bulmecisco 2:1cd559ff516b 12 const int MOVE=500;
bulmecisco 2:1cd559ff516b 13 const int TURN=500;
bulmecisco 0:66e9a0afcbd6 14
bulmecisco 0:66e9a0afcbd6 15 /*! \var int SPEED
bulmecisco 0:66e9a0afcbd6 16 \brief Bertl speed 0.2 (slow) - 1.0 (fast).
bulmecisco 0:66e9a0afcbd6 17 \warning speed below 0.2 possible the motor won't start */
bulmecisco 0:66e9a0afcbd6 18 const float SPEED = 0.2; /* Bertl speed 0.2 (slow) - 1.0 (fast) */
bulmecisco 0:66e9a0afcbd6 19 /*! \var int DISTANCE
bulmecisco 0:66e9a0afcbd6 20 \brief one wheel turn is appr. 24 ticks.
bulmecisco 0:66e9a0afcbd6 21 \warning maybe the number has to be adjusted */
bulmecisco 4:76acfddc26fb 22 const int DISTANCE = 12; /* one wheel turn is appr. 24 ticks */
bulmecisco 0:66e9a0afcbd6 23 /*! \var int ANGLE
bulmecisco 0:66e9a0afcbd6 24 \brief 12 is nearly 90 degree turn left.
bulmecisco 0:66e9a0afcbd6 25 \warning maybe the number has to be adjusted */
bulmecisco 0:66e9a0afcbd6 26 const int ANGLE = 12; /* nearly 90 degree turn left */
bulmecisco 0:66e9a0afcbd6 27
bulmecisco 0:66e9a0afcbd6 28 const int BTN_FLL = 0x80; // button front left outer
bulmecisco 0:66e9a0afcbd6 29 const int BTN_FL = 0x04; // button front left
bulmecisco 0:66e9a0afcbd6 30 const int BTN_FM = 0x01; // button front middle
bulmecisco 0:66e9a0afcbd6 31 const int BTN_FR = 0x08; // button front right
bulmecisco 0:66e9a0afcbd6 32 const int BTN_FRR = 0x40; // button front right outer
bulmecisco 0:66e9a0afcbd6 33 const int BTN_BL = 0x10; // button back left
bulmecisco 0:66e9a0afcbd6 34 const int BTN_BM = 0x02; // button back middle
bulmecisco 0:66e9a0afcbd6 35 const int BTN_BR = 0x20; // button back right
bulmecisco 0:66e9a0afcbd6 36
bulmecisco 0:66e9a0afcbd6 37 const int LED_FL1 = 0x01; /**< front LED white */
bulmecisco 0:66e9a0afcbd6 38 const int LED_FL2 = 0x02; /**< front LED yellow */
bulmecisco 0:66e9a0afcbd6 39 const int LED_FR1 = 0x04; /**< front LED white */
bulmecisco 0:66e9a0afcbd6 40 const int LED_FR2 = 0x08; /**< front LED yellow */
bulmecisco 0:66e9a0afcbd6 41 const int LED_ALL_FRONT = 0x0F;
bulmecisco 0:66e9a0afcbd6 42
bulmecisco 0:66e9a0afcbd6 43 const int LED_BL1 = 0x20; /**< yellow LED back left outer */
bulmecisco 0:66e9a0afcbd6 44 const int LED_BL2 = 0x10; /**< red LED back left inner */
bulmecisco 0:66e9a0afcbd6 45 const int LED_BR1 = 0x80; /**< yellow LED back right outer */
bulmecisco 0:66e9a0afcbd6 46 const int LED_BR2 = 0x40; /**< red LED back right inner */
bulmecisco 0:66e9a0afcbd6 47 const int LED_ALL_BACK = 0xF0;
bulmecisco 0:66e9a0afcbd6 48 const int LED_ALL = 0xFF;
bulmecisco 0:66e9a0afcbd6 49
bulmecisco 1:fafbac0ba96d 50 const int LED_BLUE = 0xBB;
bulmecisco 1:fafbac0ba96d 51
bulmecisco 0:66e9a0afcbd6 52 const int addr = 0x40; // I2C-address PCA9555
bulmecisco 0:66e9a0afcbd6 53 const int PERIOD = 20; // PWM period
bulmecisco 0:66e9a0afcbd6 54 const int PULSWIDTH = 5; // PWN pulswidth
bulmecisco 0:66e9a0afcbd6 55
bulmecisco 0:66e9a0afcbd6 56
bulmecisco 0:66e9a0afcbd6 57 #endif