MacroRat / MouseCode

Mouse code for the MacroRat

Dependencies:   ITG3200 QEI

main.h@7:6f5cb6377bd4, 2017-05-05 (annotated)

Committer:
sahilmgandhi
Date:
Fri May 05 00:08:59 2017 +0000
Revision:
7:6f5cb6377bd4
Parent:
6:3d68fedd6fd9
Child:
8:a0760acdc59e
Added some stuff for motor + encoders

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 4:b5b7836ca2b0 6
kyleliangus 4:b5b7836ca2b0 7 // Motors
kyleliangus 4:b5b7836ca2b0 8 PwmOut left1(PB_7);
kyleliangus 4:b5b7836ca2b0 9 PwmOut left2(PB_8);
kyleliangus 4:b5b7836ca2b0 10 PwmOut right1(PA_10);
kyleliangus 4:b5b7836ca2b0 11 PwmOut right2(PA_11);
kyleliangus 4:b5b7836ca2b0 12
sahilmgandhi 7:6f5cb6377bd4 13 DigitalOut enableLeftMotor(PB_4);
sahilmgandhi 7:6f5cb6377bd4 14 DigitalOut enableRightMotor(PB_5);
sahilmgandhi 7:6f5cb6377bd4 15
kyleliangus 4:b5b7836ca2b0 16 // RGB LED
kyleliangus 4:b5b7836ca2b0 17 DigitalOut redLed(PC_0);
kyleliangus 4:b5b7836ca2b0 18 DigitalOut blueLed(PC_1);
kyleliangus 4:b5b7836ca2b0 19 DigitalOut greenLed(PC_2);
kyleliangus 4:b5b7836ca2b0 20
kyleliangus 4:b5b7836ca2b0 21 // IRs
kyleliangus 4:b5b7836ca2b0 22 DigitalOut IR_1(PB_1);
kyleliangus 4:b5b7836ca2b0 23 DigitalOut IR_2(PB_13);
kyleliangus 4:b5b7836ca2b0 24 DigitalOut IR_3(PB_0);
kyleliangus 4:b5b7836ca2b0 25 DigitalOut IR_4(PB_14);
kyleliangus 4:b5b7836ca2b0 26
kyleliangus 4:b5b7836ca2b0 27 // Receivers
kyleliangus 4:b5b7836ca2b0 28 AnalogIn Rec_1(PC_5);
kyleliangus 4:b5b7836ca2b0 29 AnalogIn Rec_2(PC_4);
kyleliangus 4:b5b7836ca2b0 30 AnalogIn Rec_3(PA_6);
kyleliangus 4:b5b7836ca2b0 31 AnalogIn Rec_4(PA_7);
sahilmgandhi 7:6f5cb6377bd4 32
kyleliangus 4:b5b7836ca2b0 33
kyleliangus 4:b5b7836ca2b0 34 // Doing DEBUGGING
kyleliangus 4:b5b7836ca2b0 35 #define DEBUGGING 1
kyleliangus 4:b5b7836ca2b0 36 Serial serial(PC_6, PC_7);
kyleliangus 4:b5b7836ca2b0 37
kyleliangus 4:b5b7836ca2b0 38 // Gyro
kyleliangus 4:b5b7836ca2b0 39 ITG3200 gyro(PC_9, PA_8);
kyleliangus 4:b5b7836ca2b0 40
kyleliangus 4:b5b7836ca2b0 41 volatile double reading = 0;
kyleliangus 4:b5b7836ca2b0 42
kyleliangus 4:b5b7836ca2b0 43 int gyroX = 0;
kyleliangus 4:b5b7836ca2b0 44 int gyroY = 0;
kyleliangus 4:b5b7836ca2b0 45 int gyroZ = 0;
kyleliangus 4:b5b7836ca2b0 46
kyleliangus 4:b5b7836ca2b0 47 #endif