Diff: Protocol/protocol.h

Revision:

0:88faaa1afb83

Child:

8:a1067fcde341

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Protocol/protocol.h	Mon Apr 11 05:20:40 2016 +0000
@@ -0,0 +1,55 @@
+/*
+Copyright 2016 Erik Perillo <erik.perillo@gmail.com>
+
+This file is part of piranha-ptc.
+
+This is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+See the GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+#ifndef __PIRANHA_PROTOCOL_H__
+#define __PIRANHA_PROTOCOL_H__
+
+#define PI 3.141593
+
+//pid values range
+#define PID_PARAMS_MIN -100.0
+#define PID_PARAMS_MAX 100.0
+
+//ground speed range
+#define GND_SPEED_MIN -100.0
+#define GND_SPEED_MAX 100.0
+
+//angle reference range (in radians)
+#define ANG_REF_MIN -PI
+#define ANG_REF_MAX PI
+
+//messages to send via protocol
+enum
+{
+    //do nothing
+    NONE,
+    //brake the robot
+    BRAKE,
+    //reset angle measure
+    ANG_RST,
+    //set new angle reference
+    ANG_REF,
+    //set new ground speed for robot
+    GND_SPEED,
+    //send pid control parameters
+    PID_PARAMS
+};
+
+#endif