Psi Swarm robot library version 0.9
Fork of PsiSwarmV9 by
Diff: psiswarm.h
- Revision:
- 17:bf614e28668f
- Parent:
- 16:50686c07ad07
- Child:
- 18:9204f74069b4
diff -r 50686c07ad07 -r bf614e28668f psiswarm.h --- a/psiswarm.h Thu Jun 01 23:02:32 2017 +0000 +++ b/psiswarm.h Sun Jun 04 13:11:09 2017 +0000 @@ -24,6 +24,7 @@ #define PSISWARM_H #define SOFTWARE_VERSION_CODE 0.90 +#define TARGET_FIRMWARE_VERSION 1.2 #define PIC_ADDRESS 0x30 #define LCD_ADDRESS 0x7C @@ -50,6 +51,33 @@ #define TEMPERATURE_LOW_HI 0X00 #define TEMPEARTURE_LOW_LO 0X00 +/* CALIBRATION DEFAULTS + * __________________________ + * + * These values are used as defaults if robot specific calibration values have not been stored in EEPROM + * + */ + +#define BIR1W 1750 +#define BIR2W 3780 +#define BIR3W 3820 +#define BIR4W 3810 +#define BIR5W 2880 +#define BIR1B 30 +#define BIR2B 350 +#define BIR3B 670 +#define BIR4B 550 +#define BIR5B 250 +#define CS_C_BLACK 63 +#define CS_C_WHITE 802 +#define CS_R_BLACK 22 +#define CS_R_WHITE 244 +#define CS_G_BLACK 24 +#define CS_G_WHITE 297 +#define CS_B_BLACK 16 +#define CS_B_WHITE 232 + + #define DEFAULT_IR_PULSE_DELAY 400 #define DEFAULT_BASE_IR_PULSE_DELAY 50 @@ -140,6 +168,8 @@ void IF_get_hardware_description(void); }; +extern "C" void mbed_reset(); // Allows use of (undocumented) mbed_reset() function + extern Psiswarm psi; extern Serial pc; extern Serial bt; @@ -221,6 +251,9 @@ extern float left_motor_calibration_value; extern float right_motor_calibration_value; +extern char base_ir_calibration_set; +extern char base_colour_calibration_set; + extern float firmware_version; extern float pcb_version; extern float serial_number;