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