Jonas DOREL / Mbed 2 deprecated Moteurs

Moteurs

Dependencies:   Encoder_Nucleo_16_bits PwmIn mbed

Fork of Automate by Jonas DOREL

include_define_typedeflibrary.h@9:168226ff8f76, 2017-06-09 (annotated)

Committer:
DOREL
Date:
Fri Jun 09 19:38:56 2017 +0000
Revision:
9:168226ff8f76
Parent:
8:ad8b64ca548d 
Moteurs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DOREL 8:ad8b64ca548d 1 //Include
DOREL 8:ad8b64ca548d 2
DOREL 8:ad8b64ca548d 3 #include "mbed.h"
DOREL 8:ad8b64ca548d 4 #include "PwmIn.h"
DOREL 8:ad8b64ca548d 5 #include "Nucleo_Encoder_16_bits.h"
DOREL 8:ad8b64ca548d 6
DOREL 8:ad8b64ca548d 7 //Defines
DOREL 8:ad8b64ca548d 8
DOREL 8:ad8b64ca548d 9 #define BOUSSOLE_adress 0xC0
DOREL 8:ad8b64ca548d 10 #define PIXY_adress 0x54
DOREL 8:ad8b64ca548d 11
DOREL 8:ad8b64ca548d 12 #define CC_BLOCSIZE 14
DOREL 8:ad8b64ca548d 13 #define N_BLOCSIZE 12
DOREL 8:ad8b64ca548d 14
DOREL 8:ad8b64ca548d 15 #define N_BLOCCODE 0xAA55
DOREL 8:ad8b64ca548d 16 #define CC_BLOCCODE 0xAA56
DOREL 8:ad8b64ca548d 17
DOREL 8:ad8b64ca548d 18 #define SPI_READ_NOP 0x0003
DOREL 8:ad8b64ca548d 19 #define SPI_READ_ANGLE 0xFFFF
DOREL 8:ad8b64ca548d 20 #define SPI_READ_ERROR 0x8002
DOREL 8:ad8b64ca548d 21 #define SPI_READ_SETTINGS1 0x1803
DOREL 8:ad8b64ca548d 22 #define SPI_READ_SETTINGS2 0x8902
DOREL 8:ad8b64ca548d 23 #define SPI_WRTIE_SETTINGS1 0x1800
DOREL 8:ad8b64ca548d 24 #define SPI_WRITE_SETTINGS2 0x9801
DOREL 8:ad8b64ca548d 25
DOREL 8:ad8b64ca548d 26 //Defines automate
DOREL 8:ad8b64ca548d 27
DOREL 8:ad8b64ca548d 28 #define START 0
DOREL 8:ad8b64ca548d 29 #define SEEK_BALL 1
DOREL 8:ad8b64ca548d 30 #define TURN_TO_BALL 2
DOREL 8:ad8b64ca548d 31 #define GO_TO_BALL 3
DOREL 8:ad8b64ca548d 32 #define CAPTURE_AND_TURN 4
DOREL 8:ad8b64ca548d 33 #define WALL_CAPTURE_AND_TURN 5
DOREL 8:ad8b64ca548d 34 #define RELEASE_CAPTURE 6
DOREL 8:ad8b64ca548d 35 #define BALL_LAUNCHING 7
DOREL 8:ad8b64ca548d 36 #define STOP_BALL_LAUNCHING 8
DOREL 8:ad8b64ca548d 37 #define TURN_TO_BASE 9
DOREL 8:ad8b64ca548d 38 #define RETURN 10
DOREL 8:ad8b64ca548d 39 #define WALL_RETURN 11
DOREL 8:ad8b64ca548d 40 #define STOP_RETURN 12
DOREL 8:ad8b64ca548d 41 #define SEEK_ROTATION 13
DOREL 8:ad8b64ca548d 42
DOREL 8:ad8b64ca548d 43 //Typedef
DOREL 8:ad8b64ca548d 44
DOREL 8:ad8b64ca548d 45 typedef unsigned char Byte;
DOREL 8:ad8b64ca548d 46 typedef unsigned short Word;
DOREL 8:ad8b64ca548d 47 typedef unsigned long lWord;
DOREL 8:ad8b64ca548d 48
DOREL 8:ad8b64ca548d 49 typedef enum {S_monte = 1, S_descente = 0} T_SERVODIR;
DOREL 8:ad8b64ca548d 50
DOREL 8:ad8b64ca548d 51 typedef enum {none, begin, normal, colorCode, doubleZero} T_pixyState;
DOREL 8:ad8b64ca548d 52
DOREL 8:ad8b64ca548d 53 typedef union {
DOREL 8:ad8b64ca548d 54 lWord mot;
DOREL 8:ad8b64ca548d 55 Byte tab[4];
DOREL 8:ad8b64ca548d 56 } T_tmpBuffer;
DOREL 8:ad8b64ca548d 57
DOREL 8:ad8b64ca548d 58 typedef union {
DOREL 8:ad8b64ca548d 59 Word mot;
DOREL 8:ad8b64ca548d 60 Byte tab[2];
DOREL 8:ad8b64ca548d 61 } T_structBuffer;
DOREL 8:ad8b64ca548d 62
DOREL 8:ad8b64ca548d 63 typedef struct {
DOREL 8:ad8b64ca548d 64 Word checksum;
DOREL 8:ad8b64ca548d 65 Word signature;
DOREL 8:ad8b64ca548d 66 Word x;
DOREL 8:ad8b64ca548d 67 Word y;
DOREL 8:ad8b64ca548d 68 Word width;
DOREL 8:ad8b64ca548d 69 Word height;
DOREL 8:ad8b64ca548d 70 Word angle;
DOREL 8:ad8b64ca548d 71 } T_pixyCCBloc;
DOREL 8:ad8b64ca548d 72
DOREL 8:ad8b64ca548d 73 typedef struct {
DOREL 8:ad8b64ca548d 74 Word checksum;
DOREL 8:ad8b64ca548d 75 Word signature;
DOREL 8:ad8b64ca548d 76 Word x;
DOREL 8:ad8b64ca548d 77 Word y;
DOREL 8:ad8b64ca548d 78 Word width;
DOREL 8:ad8b64ca548d 79 Word height;
DOREL 8:ad8b64ca548d 80 } T_pixyNMBloc;
DOREL 8:ad8b64ca548d 81
DOREL 8:ad8b64ca548d 82 typedef union {
DOREL 8:ad8b64ca548d 83 Byte tab[14];
DOREL 8:ad8b64ca548d 84 T_pixyCCBloc CCbloc;
DOREL 8:ad8b64ca548d 85 } T_pixyCCData;
DOREL 8:ad8b64ca548d 86
DOREL 8:ad8b64ca548d 87 typedef union {
DOREL 8:ad8b64ca548d 88 Byte tab[12];
DOREL 8:ad8b64ca548d 89 T_pixyNMBloc NMbloc;
DOREL 8:ad8b64ca548d 90 } T_pixyNMData;