const.h

00001 /*! \file const.h
00002 \brief A Documented file.
00003 * name:   const.h    Version: 3.0 \n
00004 * author: PE HTL BULME \n
00005 * email:  pe@bulme.at \n
00006 * description:
00007 *   Constants for ur_Bertl The Robot
00008 *   Constant for Robot from objectiv Robot added
00009 */
00010 #ifndef CONST_H
00011 #define CONST_H
00012 #define TIME  /**< if defined Bertl uses the time and not motor encoder*/
00013 const int MOVE=500;     /**< ms move forward or backward */
00014 const int TURN=500;     /**< ms TurnLeft or TurnRigth (nearly 90 degree) */
00015 const int STEPTIME=20;  /**< ms turn left or right for adjusting moves for TurnLeft or TurnRigth */
00016 
00017 /*! \var int ULTRASONIC_DISTANCE
00018 \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm.
00019 \warning no warning*/
00020 const int ULTRASONIC_DISTANCE = 5;    /*  Distance sensor  */
00021 /*! \var int SPEED
00022 \brief Bertl speed 0.2 (slow) - 1.0 (fast).
00023 \warning speed below 0.2 possible the motor won't start */
00024 const float SPEED = 0.4;    /*  Bertl speed 0.2 (slow) - 1.0 (fast) */
00025 /*! \var int DISTANCE
00026 \brief one wheel turn is appr. 24 ticks.
00027 \warning maybe the number has to be adjusted */
00028 const int DISTANCE = 12;    /*  one wheel turn is appr. 24 ticks */
00029 /*! \var int ANGLE
00030 \brief 12 is nearly 90 degree turn left.
00031 \warning maybe the number has to be adjusted */
00032 const int ANGLE = 12;      /*  nearly 90 degree turn left */
00033 
00034 const int BTN_FLL = 0x80;   //  button front left outer 
00035 const int BTN_FL  = 0x04;   // button front left
00036 const int BTN_FM  = 0x01;   // button front middle
00037 const int BTN_FR  = 0x08;   // button front right 
00038 const int BTN_FRR = 0x40;   // button front right outer
00039 const int BTN_BL  = 0x10;   // button back left
00040 const int BTN_BM  = 0x02;   // button back middle
00041 const int BTN_BR  = 0x20;   // button back right
00042 
00043 const int LED_FL1 = 0x01;   /**<  front LED white */
00044 const int LED_FL2 = 0x02;   /**< front LED yellow */
00045 const int LED_FR1 = 0x04;   /**< front LED white */
00046 const int LED_FR2 = 0x08;   /**< front LED yellow */
00047 const int LED_ALL_FRONT = 0x0F;
00048 
00049 const int LED_BL1 = 0x20;   /**< yellow LED back left outer */
00050 const int LED_BL2 = 0x10;   /**< red LED back left inner */
00051 const int LED_BR1 = 0x80;   /**< yellow LED back right outer */
00052 const int LED_BR2 = 0x40;   /**< red LED back right inner */
00053 const int LED_ALL_BACK = 0xF0;
00054 const int LED_ALL = 0xFF;
00055 
00056 const int LED_BLUE = 0xBB;
00057 
00058 const int addr = 0x40;       // I2C-address PCA9555
00059 const int PERIOD = 20;       // PWM period
00060 const int PULSWIDTH = 5;     // PWN pulswidth
00061 const int East = 1; 
00062 const int West = 2; 
00063 const int North = 3;
00064 const int South = 4;
00065 
00066 #endif