MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

main.h@9:1d8e4da058cd, 2017-05-06 (annotated)

Committer:
kyleliangus
Date:
Sat May 06 01:31:44 2017 +0000
Revision:
9:1d8e4da058cd
Parent:
8:a0760acdc59e
Child:
10:810d1849da9d
IR PID is now implemented

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kyleliangus 4:b5b7836ca2b0 1 #ifndef MAIN_H
kyleliangus 4:b5b7836ca2b0 2 #define MAIN_H
kyleliangus 4:b5b7836ca2b0 3
kyleliangus 4:b5b7836ca2b0 4 #include "mbed.h"
kyleliangus 4:b5b7836ca2b0 5 #include "ITG3200.h"
kyleliangus 9:1d8e4da058cd 6 #include "motor.h"
kyleliangus 4:b5b7836ca2b0 7
kyleliangus 4:b5b7836ca2b0 8 // Motors
kyleliangus 8:a0760acdc59e 9 /*
kyleliangus 4:b5b7836ca2b0 10 PwmOut left1(PB_7);
kyleliangus 4:b5b7836ca2b0 11 PwmOut left2(PB_8);
kyleliangus 4:b5b7836ca2b0 12 PwmOut right1(PA_10);
kyleliangus 4:b5b7836ca2b0 13 PwmOut right2(PA_11);
kyleliangus 4:b5b7836ca2b0 14
sahilmgandhi 7:6f5cb6377bd4 15 DigitalOut enableLeftMotor(PB_4);
sahilmgandhi 7:6f5cb6377bd4 16 DigitalOut enableRightMotor(PB_5);
kyleliangus 8:a0760acdc59e 17 */
sahilmgandhi 7:6f5cb6377bd4 18
kyleliangus 4:b5b7836ca2b0 19 // RGB LED
kyleliangus 4:b5b7836ca2b0 20 DigitalOut redLed(PC_0);
kyleliangus 4:b5b7836ca2b0 21 DigitalOut blueLed(PC_1);
kyleliangus 4:b5b7836ca2b0 22 DigitalOut greenLed(PC_2);
kyleliangus 4:b5b7836ca2b0 23
kyleliangus 9:1d8e4da058cd 24 // IRPairs
kyleliangus 9:1d8e4da058cd 25 IRPair IRP_4( PB_1, PC_5 );
kyleliangus 9:1d8e4da058cd 26 IRPair IRP_3( PB_13, PC_4 );
kyleliangus 9:1d8e4da058cd 27 IRPair IRP_2( PB_0, PA_6 );
kyleliangus 9:1d8e4da058cd 28 IRPair IRP_1( PB_14, PA_7 );
kyleliangus 9:1d8e4da058cd 29
kyleliangus 9:1d8e4da058cd 30 Motor left_motor( PB_7, PB_8, PB_4 );
kyleliangus 9:1d8e4da058cd 31 Motor right_motor( PA_10, PA_11, PB_5 );
kyleliangus 9:1d8e4da058cd 32
kyleliangus 9:1d8e4da058cd 33 /*
kyleliangus 4:b5b7836ca2b0 34 DigitalOut IR_1(PB_1);
kyleliangus 4:b5b7836ca2b0 35 DigitalOut IR_2(PB_13);
kyleliangus 4:b5b7836ca2b0 36 DigitalOut IR_3(PB_0);
kyleliangus 4:b5b7836ca2b0 37 DigitalOut IR_4(PB_14);
kyleliangus 4:b5b7836ca2b0 38 // Receivers
kyleliangus 4:b5b7836ca2b0 39 AnalogIn Rec_1(PC_5);
kyleliangus 4:b5b7836ca2b0 40 AnalogIn Rec_2(PC_4);
kyleliangus 4:b5b7836ca2b0 41 AnalogIn Rec_3(PA_6);
kyleliangus 4:b5b7836ca2b0 42 AnalogIn Rec_4(PA_7);
kyleliangus 9:1d8e4da058cd 43 */
kyleliangus 4:b5b7836ca2b0 44
kyleliangus 4:b5b7836ca2b0 45 // Doing DEBUGGING
kyleliangus 4:b5b7836ca2b0 46 #define DEBUGGING 1
kyleliangus 4:b5b7836ca2b0 47 Serial serial(PC_6, PC_7);
kyleliangus 4:b5b7836ca2b0 48
kyleliangus 4:b5b7836ca2b0 49 // Gyro
kyleliangus 4:b5b7836ca2b0 50 ITG3200 gyro(PC_9, PA_8);
kyleliangus 4:b5b7836ca2b0 51
kyleliangus 4:b5b7836ca2b0 52 volatile double reading = 0;
kyleliangus 4:b5b7836ca2b0 53
kyleliangus 4:b5b7836ca2b0 54 int gyroX = 0;
kyleliangus 4:b5b7836ca2b0 55 int gyroY = 0;
kyleliangus 4:b5b7836ca2b0 56 int gyroZ = 0;
kyleliangus 4:b5b7836ca2b0 57
kyleliangus 4:b5b7836ca2b0 58 #endif