C++ Library for the PsiSwarm Robot - Version 0.7
Fork of PsiSwarmV7 by
settings.h@5:3cdd1a37cdd7, 2016-10-15 (annotated)
- Committer:
- jah128
- Date:
- Sat Oct 15 13:29:37 2016 +0000
- Revision:
- 5:3cdd1a37cdd7
- Parent:
- 4:1c621cb8cf0d
- Child:
- 6:b340a527add9
Initial commit of API Version 7 (fork from version 5)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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jah128 | 5:3cdd1a37cdd7 | 1 | /* University of York Robotics Laboratory PsiSwarm Library: PsiSwarm Settings File |
jah128 | 0:d6269d17c8cf | 2 | * |
jah128 | 0:d6269d17c8cf | 3 | * File: settings.h |
jah128 | 0:d6269d17c8cf | 4 | * |
jah128 | 0:d6269d17c8cf | 5 | * (C) Dept. Electronics & Computer Science, University of York |
jah128 | 0:d6269d17c8cf | 6 | * James Hilder, Alan Millard, Alexander Horsfield, Homero Elizondo, Jon Timmis |
jah128 | 0:d6269d17c8cf | 7 | * |
jah128 | 5:3cdd1a37cdd7 | 8 | * PsiSwarm Library Version: 0.7 |
jah128 | 0:d6269d17c8cf | 9 | * |
jah128 | 5:3cdd1a37cdd7 | 10 | * October 2016 |
jah128 | 0:d6269d17c8cf | 11 | * |
jah128 | 0:d6269d17c8cf | 12 | * |
jah128 | 0:d6269d17c8cf | 13 | */ |
jah128 | 0:d6269d17c8cf | 14 | |
jah128 | 4:1c621cb8cf0d | 15 | /* USE_MOTOR_CALIBRATION [1=on, recommended 0=off] |
jah128 | 4:1c621cb8cf0d | 16 | * If enabled, the actual motor speeds will be adjusted from the requested values using the motor calibration values stored in |
jah128 | 4:1c621cb8cf0d | 17 | * firmware (and set using the motor calibration code in the demo mode) |
jah128 | 4:1c621cb8cf0d | 18 | */ |
jah128 | 4:1c621cb8cf0d | 19 | #define USE_MOTOR_CALIBRATION 1 |
jah128 | 0:d6269d17c8cf | 20 | |
jah128 | 0:d6269d17c8cf | 21 | /* OFFSET_MOTORS [1=on, recommended 0=off] |
jah128 | 0:d6269d17c8cf | 22 | * The motors typically stall when the PWM output is below around 0.2 |
jah128 | 0:d6269d17c8cf | 23 | * Enabling the offset shifts the actual PWM range so that the motor speed 0.0 -> 1.0 actually sets a PWM output of 0.2 -> 1.0 |
jah128 | 0:d6269d17c8cf | 24 | */ |
jah128 | 0:d6269d17c8cf | 25 | #define OFFSET_MOTORS 1 |
jah128 | 0:d6269d17c8cf | 26 | |
jah128 | 0:d6269d17c8cf | 27 | /* ENABLE_DEMO [1=on, 0=off] |
jah128 | 0:d6269d17c8cf | 28 | * If enabled the demo mode will be launched when the center button is held as the MBED is switched on or reset |
jah128 | 0:d6269d17c8cf | 29 | */ |
jah128 | 0:d6269d17c8cf | 30 | #define ENABLE_DEMO 1 |
jah128 | 0:d6269d17c8cf | 31 | |
jah128 | 0:d6269d17c8cf | 32 | |
jah128 | 0:d6269d17c8cf | 33 | /* ENABLE_BASIC [1=on, 0=off]: Enable if the Psi-BASIC Interpretter is being used */ |
jah128 | 0:d6269d17c8cf | 34 | #define ENABLE_BASIC 1 |
jah128 | 0:d6269d17c8cf | 35 | |
jah128 | 0:d6269d17c8cf | 36 | /* SERIAL INTERFACES SETTINGS |
jah128 | 0:d6269d17c8cf | 37 | * __________________________ |
jah128 | 0:d6269d17c8cf | 38 | * |
jah128 | 0:d6269d17c8cf | 39 | * The Psi-Swarm can communicate using both the USB PC-Serial interface or via Bluetooth using a BlueSMIRF module |
jah128 | 0:d6269d17c8cf | 40 | * |
jah128 | 0:d6269d17c8cf | 41 | * |
jah128 | 0:d6269d17c8cf | 42 | */ |
jah128 | 0:d6269d17c8cf | 43 | |
jah128 | 0:d6269d17c8cf | 44 | /* ENABLE_BLUETOOTH [1=on, 0=off]: Enable if the BlueSmirf module is being used */ |
jah128 | 0:d6269d17c8cf | 45 | #define ENABLE_BLUETOOTH 1 |
jah128 | 0:d6269d17c8cf | 46 | |
jah128 | 0:d6269d17c8cf | 47 | /* ENABLE_PC_SERIAL [1=on, 0=off]: Enable if the PC USB serial module is being used */ |
jah128 | 0:d6269d17c8cf | 48 | #define ENABLE_PC_SERIAL 1 |
jah128 | 0:d6269d17c8cf | 49 | |
jah128 | 0:d6269d17c8cf | 50 | /* BLUETOOTH_BAUD [recommended=115200]: Baud rate for the BlueSMIRF module */ |
jah128 | 0:d6269d17c8cf | 51 | #define BLUETOOTH_BAUD 115200 |
jah128 | 0:d6269d17c8cf | 52 | |
jah128 | 0:d6269d17c8cf | 53 | /* PC_BAUD [recommended=460800 for optimal performance, 115200 for compatability]: Baud rate for the PC USB serial module */ |
jah128 | 0:d6269d17c8cf | 54 | //#define PC_BAUD 460800 |
jah128 | 0:d6269d17c8cf | 55 | #define PC_BAUD 115200 |
jah128 | 0:d6269d17c8cf | 56 | |
jah128 | 0:d6269d17c8cf | 57 | /* DEBUG_MODE [1=on, 0=off]: Enable to allow debug messages to be sent of one of the serial interfaces */ |
jah128 | 0:d6269d17c8cf | 58 | #define DEBUG_MODE 1 |
jah128 | 0:d6269d17c8cf | 59 | |
jah128 | 0:d6269d17c8cf | 60 | /* SHOW_VR_WARNINGS [1=on, 0=off]: Show voltage-regulator debug message warnings after initial boot-up */ |
jah128 | 0:d6269d17c8cf | 61 | #define SHOW_VR_WARNINGS 0 |
jah128 | 0:d6269d17c8cf | 62 | |
jah128 | 0:d6269d17c8cf | 63 | /* USE_LED3_FOR_INTERRUPTS [1=on, 0=off]: Switch interrupts will appear as the lighting of LED3 on MBED */ |
jah128 | 0:d6269d17c8cf | 64 | #define USE_LED3_FOR_INTERRUPTS 1 |
jah128 | 0:d6269d17c8cf | 65 | |
jah128 | 0:d6269d17c8cf | 66 | /* USE_LED4_FOR_VR_WARNINGS [1=on, 0=off]: Voltage-regulator warnings will appear as the lighting of LED4 on MBED */ |
jah128 | 0:d6269d17c8cf | 67 | #define USE_LED4_FOR_VR_WARNINGS 1 |
jah128 | 0:d6269d17c8cf | 68 | |
jah128 | 0:d6269d17c8cf | 69 | /* HALT_ON_GPIO_ERROR [1=on, 0=off]: Halts system if no GPIO response received during init() - typically this happens when MBED is powered but robot is switched off */ |
jah128 | 0:d6269d17c8cf | 70 | #define HALT_ON_GPIO_ERROR 1 |
jah128 | 0:d6269d17c8cf | 71 | |
jah128 | 0:d6269d17c8cf | 72 | /* HALT_ON_ALL_VREGS_LOW [1=on, 0=off]: Halts system when all 3.3V voltage regulators are low on boot-up - typically this happens when MBED is powered but robot is switched off */ |
jah128 | 0:d6269d17c8cf | 73 | #define HALT_ON_ALL_VREGS_LOW 0 |
jah128 | 0:d6269d17c8cf | 74 | |
jah128 | 0:d6269d17c8cf | 75 | /* DEBUG_OUTPUT_STREAM [1=PC\USB 2=BlueSmirf 4=Display]: Specify which output stream(s) should be used by default for debug messages, if enabled*/ |
jah128 | 0:d6269d17c8cf | 76 | #define DEBUG_OUTPUT_STREAM 1 |