mother
Dependencies: PS3 i2cmaster mbed
Diff: define.h
- Revision:
- 0:a6b6c585a378
- Child:
- 1:755d8977d4a3
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/define.h Mon Sep 26 10:29:21 2016 +0000 @@ -0,0 +1,46 @@ +/*Registar group*************************************/ + +#define motor1_state 0x01 +#define motor2_state 0x02 +#define motor1_pwm 0x03 +#define motor2_pwm 0x04 +#define check_reg 0x05 +#define PM_target_reg 0x10 +#define RE_target_reg 0x20 +#define Kp 0x30 +#define pid_start 0x40 +#define machine_state 0x45 +#define PM_ofset_reg 0x50 +#define wheel_start 0x60 +#define PM_start 0x70 + +/*Address group*************************************/ +//MD : MotorDriver +#define MD1_addr 0x12 +#define MD2_addr 0x14 +#define MD3_addr 0x16 +#define MD4_addr 0x18 +#define MD5_addr 0x20 +#define MD6_addr 0x22 +#define MD7_addr 0x24 +#define MD8_addr 0x26 +#define MD9_addr 0x28 +#define MD10_addr 0x30 +#define MD11_addr 0x32 +#define MD12_addr 0x34 +#define MD13_addr 0x36 +#define MD14_addr 0x38 +#define MD15_addr 0x40 + +//CY : Cylinder +#define CY1_addr 0x50 + +//SE : Sensor +#define SE1_addr 0x90 +#define SE2_addr 0xA0 + +/*Motor movement***********************************/ + +#define Nomal 5 +#define Reverse 10 +#define Stop 3