Initial Commit
Diff: robot.h
- Revision:
- 4:0eeea5f05e28
- Parent:
- 3:3e3314102e56
diff -r 3e3314102e56 -r 0eeea5f05e28 robot.h --- a/robot.h Sun Oct 12 23:27:33 2014 +0000 +++ b/robot.h Tue Oct 14 17:54:20 2014 +0000 @@ -6,6 +6,8 @@ #include "HC05.h" #include "MPU6050.h" #include "I2Cdev.h" + +#include "motors.h" //#include "MPU6050.h" //#include "HC05.h" //#include "ACS712.h" @@ -55,7 +57,8 @@ //Correct direction of motors. If number = 1, forward. If number = 0, backwards (for if motors are wired backwards) #define MOTOR_R_DIRECTION 1 #define MOTOR_L_DIRECTION 1 - +#define L_MOTOR_SCALE 1 +#define R_MOTOR_SCALE 1 #define MOTOR_INTERVAL 20 //defines the interval (in milliseconds) between when motor can be set //NOTE: Can't make this less than 20ms, because that is the PWM frequency @@ -79,7 +82,7 @@ #define ulB PTC0 - +extern Motors motors; extern HC05 bt; //bluetooth connection //extern Serial bt; //extern QEI wheel; @@ -142,7 +145,7 @@ void Led_off(); void initRobot(); extern double pl_buzzer(); - extern void pl_buzzer(void const *args); + extern void pl_buzzer(int freq, int f_time); extern void Imu_yaw(void const *args); extern void encoder_thread(void const *args); extern int freq; @@ -155,6 +158,10 @@ extern int16_t gx, gy, gz; extern int heading; extern int software_interuupt; + extern int Encoder_x; + extern int Encoder_y; + extern char Selected_robot; + extern bool bt_connected; //Wireless connections #endif \ No newline at end of file