UVic Assistive Technology Lab / Mbed 2 deprecated DSLR_Camera_Gimbal

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Dependencies:   mbed ros_lib_kinetic

Diff: definitions.h

Revision:
4:89ebfa37663b
Parent:
3:527f0b949839
Child:
6:2ffa254e8f6e
--- a/definitions.h	Thu Feb 08 22:55:15 2018 +0000
+++ b/definitions.h	Mon Mar 05 23:08:34 2018 +0000
@@ -28,14 +28,14 @@
 #define     YAWMIN          0       // -177 degrees.
 #define     YAWMAX          4063    // +177 degrees.
 #define     PITCHMIN        1326    // -90 degrees.
-#define     PITCHMAX        3374    // +90 degrees.
-#define     ROLLMIN         1278    // -90 degrees.
-#define     ROLLMAX         3326    // +90 degrees.
+#define     PITCHMAX        2375    // +90 degrees is at 3374
+#define     ROLLMIN         1790    // -45 degrees. 
+#define     ROLLMAX         2814    // +45 degrees.
 
 // Lift definitions
 #define     LIFTUP          0
 #define     LIFTDOWN        1
-#define     LIFTHEIGHTMAX   3000 // 119.6 cm
+#define     LIFTHEIGHTMAX   3000 // 119.6 cm should be 3000
 #define     LIFTHEIGHTMIN   5 //51.6 cm
 // Delta Height for Lift is 68cm
 
@@ -54,7 +54,7 @@
 bool    gimbalRun;
 bool    shutdown;
 bool    initialize;
-bool    mode;
+int     mode;
 };
 struct  fields_float{
 float   yaw;
@@ -77,12 +77,14 @@
 extern struct           fields          rosInput;
 extern volatile int     currentPosition;
 extern int              prevPosition;
-extern bool             stall; 
+extern bool             stall;
+extern bool             rosFlag;
+extern int              stallcount;
 extern Ticker           hallInt;
 extern Timer            filter_hall1;
+extern Timer            rosMode_Delay;
 extern PwmOut           liftSpeed;
 extern DigitalOut       liftDirection;
-extern DigitalOut       LED;
 extern DynamixelClass   gimbal;
 
 #endif
\ No newline at end of file