Automate
Dependencies: Encoder_Nucleo_16_bits PwmIn mbed
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include_define_typedeflibrary.h
- Committer:
- DOREL
- Date:
- 2017-06-09
- Revision:
- 8:ad8b64ca548d
File content as of revision 8:ad8b64ca548d:
//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;