Automate
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
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Diff: include_define_typedeflibrary.h
- Revision:
- 8:ad8b64ca548d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/include_define_typedeflibrary.h Fri Jun 09 17:06:05 2017 +0000 @@ -0,0 +1,90 @@ +//Include + +#include "mbed.h" +#include "PwmIn.h" +#include "Nucleo_Encoder_16_bits.h" + +//Defines + +#define BOUSSOLE_adress 0xC0 +#define PIXY_adress 0x54 + +#define CC_BLOCSIZE 14 +#define N_BLOCSIZE 12 + +#define N_BLOCCODE 0xAA55 +#define CC_BLOCCODE 0xAA56 + +#define SPI_READ_NOP 0x0003 +#define SPI_READ_ANGLE 0xFFFF +#define SPI_READ_ERROR 0x8002 +#define SPI_READ_SETTINGS1 0x1803 +#define SPI_READ_SETTINGS2 0x8902 +#define SPI_WRTIE_SETTINGS1 0x1800 +#define SPI_WRITE_SETTINGS2 0x9801 + +//Defines automate + +#define START 0 +#define SEEK_BALL 1 +#define TURN_TO_BALL 2 +#define GO_TO_BALL 3 +#define CAPTURE_AND_TURN 4 +#define WALL_CAPTURE_AND_TURN 5 +#define RELEASE_CAPTURE 6 +#define BALL_LAUNCHING 7 +#define STOP_BALL_LAUNCHING 8 +#define TURN_TO_BASE 9 +#define RETURN 10 +#define WALL_RETURN 11 +#define STOP_RETURN 12 +#define SEEK_ROTATION 13 + +//Typedef + +typedef unsigned char Byte; +typedef unsigned short Word; +typedef unsigned long lWord; + +typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR; + +typedef enum {none, begin, normal, colorCode, doubleZero} T_pixyState; + +typedef union { + lWord mot; + Byte tab[4]; +} T_tmpBuffer; + +typedef union { + Word mot; + Byte tab[2]; +} T_structBuffer; + +typedef struct { + Word checksum; + Word signature; + Word x; + Word y; + Word width; + Word height; + Word angle; +} T_pixyCCBloc; + +typedef struct { + Word checksum; + Word signature; + Word x; + Word y; + Word width; + Word height; +} T_pixyNMBloc; + +typedef union { + Byte tab[14]; + T_pixyCCBloc CCbloc; +} T_pixyCCData; + +typedef union { + Byte tab[12]; + T_pixyNMBloc NMbloc; +} T_pixyNMData; \ No newline at end of file