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Dependencies: Servo ServoArm mbed
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Declarations.h
00001 #ifndef DECLARATIONS_H 00002 #define DECLARATIONS_H 00003 00004 //DistanceSensors: 00005 #define NEAR 0.16f //Used for distance Sensors. If they're to near to a wall -> turn 00006 #define NEAR_LEGO 0.12f //If the DistanceSensors are near to a Lego... 00007 00008 #define LEFT_L 5 //Arrayindex of the left LEGO Sensor & left LED 00009 #define FWD_L 0 //Arrayindex of the front LEGO Sensor & front LED 00010 #define RIGHT_L 1 //Arrayindex of the right LEGO Sensor & right LED 00011 00012 #define LEFT 7 //Arrayindex of the left Sensor 00013 #define FWD 6 //Arrayindex of the front Sensor 00014 #define RIGHT 8 //Arrayindex of the right Sensor 00015 #define BRIGHT 2 //Arrayindex of the backward right Sensor & left LED 00016 #define BWD 3 //Arrayindex of the backward Sensor & front LED 00017 #define BLEFT 4 //Arrayindex of the backsward left Sensor & right LED 00018 00019 //ColorSensors: 00020 #define RED_UPLIMIT 1400 //Default limit in mV 00021 #define GREEN_DOWNLIMIT 1401// 00022 #define GREEN_UPLIMIT 2000 // 00023 00024 #define GREEN 1 //Will be used to operate arm functions 00025 #define NOBLOCK 0 // 00026 #define RED 2 // 00027 00028 //Greifer: 00029 //#define PC_7 SERVO0 00030 00031 //Arm 00032 #define COLLECT_POS 60.0f 00033 #define RELEASE_POS 85.0f 00034 #define TAKE_POS -65.0f 00035 00036 00037 // 00038 #define UP_POS 20.0f //zu bestimmen 00039 #define DOWN_POS -72.0f //zu bestimmen 00040 00041 //Misc: 00042 #define TIMEOUT 1400 //if the timer reaches TIMEOUT ([TIMEOUT] = 0.1s), the robot will reset. 00043 #define MAX 50 //Once the counter reaches MAX, it will turn around. 00044 00045 #endif
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