Mouse code for the MacroRat
main.h
- Committer:
- kyleliangus
- Date:
- 2017-05-12
- Revision:
- 12:5790e56a056f
- Parent:
- 11:8fc2b703086b
- Child:
- 15:b80555a4a8b9
File content as of revision 12:5790e56a056f:
#ifndef MAIN_H #define MAIN_H #include "mbed.h" #include "ITG3200.h" #include "motor.h" #include "QEI.h" #define PULSES 3520 #define SAMPLE_NUM 100 // Motors /* PwmOut left1(PB_7); PwmOut left2(PB_8); PwmOut right1(PA_10); PwmOut right2(PA_11); DigitalOut enableLeftMotor(PB_4); DigitalOut enableRightMotor(PB_5); */ // RGB LED DigitalOut redLed(PC_0); DigitalOut blueLed(PC_1); DigitalOut greenLed(PC_2); // IRPairs IRPair IRP_4( PB_1, PC_5 ); IRPair IRP_3( PB_13, PC_4 ); IRPair IRP_2( PB_0, PA_6 ); IRPair IRP_1( PB_14, PA_7 ); Motor left_motor( PB_7, PB_8, PB_4 ); Motor right_motor( PA_10, PA_11, PB_5 ); /* DigitalOut IR_1(PB_1); DigitalOut IR_2(PB_13); DigitalOut IR_3(PB_0); DigitalOut IR_4(PB_14); // Receivers AnalogIn Rec_1(PC_5); AnalogIn Rec_2(PC_4); AnalogIn Rec_3(PA_6); AnalogIn Rec_4(PA_7); */ // Doing DEBUGGING #define DEBUGGING 1 Serial serial(PC_6, PC_7); // Gyro ITG3200 gyro(PC_9, PA_8); volatile double reading = 0; int gyroX = 0; int gyroY = 0; int gyroZ = 0; InterruptIn dipButton1(PB_15); InterruptIn dipButton2(PB_10); InterruptIn dipButton3(PB_9); InterruptIn dipButton4(PB_12); void enableButton1(); void enableButton2(); void enableButton3(); void enableButton4(); void disableButton1(); void disableButton2(); void disableButton3(); void disableButton4(); int dipFlags = 0; #define BUTTON1_FLAG 0x1 #define BUTTON2_FLAG 0x2 #define BUTTON3_FLAG 0x4 #define BUTTON4_FLAG 0x8 QEI encoder0( PA_5, PB_3, NC, PULSES, QEI::X4_ENCODING ); QEI encoder1( PA_1, PA_0, NC, PULSES, QEI::X4_ENCODING ); #endif