define.h

00001 /*Registar group*************************************/
00002 
00003 #define motor1_state    0x01
00004 #define motor2_state    0x02
00005 #define motor1_pwm      0x03
00006 #define motor2_pwm      0x04
00007 #define check_reg       0x05
00008 #define PM_target_reg   0x10
00009 #define RE_target_reg   0x20
00010 #define Kp              0x30
00011 #define pid_start       0x40
00012 #define machine_state   0x45
00013 #define PM_ofset_reg    0x50
00014 #define wheel_start     0x60
00015 #define PM_start        0x70
00016 
00017 /*Address group*************************************/
00018 //MD : MotorDriver
00019 #define MD1_addr 0x12
00020 #define MD2_addr 0x14
00021 #define MD3_addr 0x16
00022 #define MD4_addr 0x18
00023 #define MD5_addr 0x20
00024 #define MD6_addr 0x22
00025 #define MD7_addr 0x24
00026 #define MD8_addr 0x26
00027 #define MD9_addr 0x28
00028 #define MD10_addr 0x30
00029 #define MD11_addr 0x32
00030 #define MD12_addr 0x34
00031 #define MD13_addr 0x36
00032 #define MD14_addr 0x38
00033 #define MD15_addr 0x40
00034 
00035 //CY : Cylinder
00036 #define CY1_addr 0x50
00037 
00038 //SERVO : Servo motor
00039 #define SERVO1_addr 0x60
00040 
00041 //SE : Sensor
00042 #define SE1_addr 0x90
00043 #define SE2_addr 0xA0
00044 
00045 /*Motor movement***********************************/
00046 
00047 #define Nomal 5
00048 #define Reverse 10
00049 #define Stop 3