Diff: Protocol/protocol.h

Revision:

8:a1067fcde341

Parent:

0:88faaa1afb83

diff -r 27516a2b504b -r a1067fcde341 Protocol/protocol.h
--- a/Protocol/protocol.h	Sun Apr 17 01:07:25 2016 +0000
+++ b/Protocol/protocol.h	Sat Apr 23 03:55:39 2016 +0000
@@ -27,14 +27,22 @@
 #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
+//ground velocity range
+#define GND_VEL_MIN -100.0
+#define GND_VEL_MAX 100.0
 
 //angle reference range (in radians)
 #define ANG_REF_MIN -PI
 #define ANG_REF_MAX PI
 
+//jogging speed period (in seconds)
+#define JOG_VEL_PERIOD_MIN 0.0
+#define JOG_VEL_PERIOD_MAX 300.0
+
+//jogging speed ratio
+#define JOG_VEL_RATIO_MIN 0.0
+#define JOG_VEL_RATIO_MAX 1.0
+
 //messages to send via protocol
 enum
 {
@@ -46,10 +54,12 @@
     ANG_RST,
     //set new angle reference
     ANG_REF,
-    //set new ground speed for robot
-    GND_SPEED,
+    //set new ground velocity for robot
+    GND_VEL,
+    //set new jogging speed for robot
+    JOG_VEL,
     //send pid control parameters
     PID_PARAMS
 };
 
-#endif
+#endif
\ No newline at end of file