Mouse code for the MacroRat
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?
User | Revision | Line number | New 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 |