config.h

00001 /*! \file config.h
00002 \brief A Documented file.
00003 * name:   config.h    Version: 3.0 \n
00004 * author: PE HTL BULME \n
00005 * email:  pe@bulme.at \n
00006 * description:
00007 *    Wiring for ur_Bertl The Robot
00008 */
00009 
00010 #include "mbed.h"
00011 #include "hcsr04.h"
00012 #include "const.h"
00013 
00014 #ifndef CONFIG_H
00015 #define CONFIG_H
00016 /*! \def DEBUG
00017 \brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */
00018 #define DEBUG 0
00019 //#define FRONTBUTTON       /**< Error shutoff if Bertl moves against a wall*/
00020 #define HCSR                /**< if ultrsonic is installed*/
00021 #define MOTORENC P1_13        /**< P1_12: left encoder P1_13: rigth encoder (motor) */
00022 
00023 BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11);   /**< 4 yellow LEDs as a bus defined; use it i.e.: karel.NibbleLeds(karel.GetLineValues()); to show line sensor values */
00024 DigitalOut LED_D10(P1_8);    /**<  wiring first LED_D10 */
00025 DigitalOut LED_D11(P1_9);    /**<  wiring second LED_D11 */
00026 DigitalOut LED_D12(P1_10);   /**<  wiring thired LED_D12 */
00027 DigitalOut LED_D13(P1_11);   /**<  wiring fourth LED_D13 */
00028 
00029 DigitalOut LED_blue(P1_28);  /**<  all blue LEDs are on Port 1_28   */ 
00030 
00031 DigitalOut RGB_blue(P1_24);  /**< RGB blue component of the color uP -> Port 1_24 */
00032 DigitalOut RGB_red(P1_23);   /**< RGB red component of the color uP -> Port 1_23 */    
00033 DigitalOut RGB_green(P1_25); /**< RGB green component of the color uP -> Port 1_25 */ 
00034 
00035 //------------------ CHANGE ONLY IF NESSESARY -------------------------------------
00036 
00037 DigitalOut MotorL_EN(p34);          // wiring motor left
00038 DigitalOut MotorL_FORWARD(P1_1);    // change to P1_0 for Bertl 2015
00039 DigitalOut MotorL_REVERSE(P1_0);    // change to P1_1 for Bertl 2015
00040 
00041 DigitalOut MotorR_EN(p36);          // wiring motor right
00042 DigitalOut MotorR_FORWARD(P1_3);    // change to P1_4 for Bertl 2015
00043 DigitalOut MotorR_REVERSE(P1_4);    // change to P1_3 for Bertl 2015
00044 
00045 I2C i2c(p28,p27);   
00046 BusIn linesensor(p18, p16, p19, p17);  
00047 DigitalIn SensorL(P1_12);     /**<  motor sensor left on Port P1_12 */
00048 DigitalIn SensorR(P1_13);     /**<  motor sensor right on Port P1_13 */
00049 HCSR04  usensor(p21,p22);     // HC-SR04 ultrasonic sensor
00050 PwmOut mg1(P1_15);            // PWM out motor left
00051 PwmOut mg2(P0_21);            // PWM out motor right
00052 
00053 Serial pc(USBTX, USBRX);      // tx, rx  
00054 
00055 // Bertl 2015
00056 DigitalOut MotorSpg (p30);
00057 DigitalOut IncrementalgeberSpg (P1_7);
00058 DigitalOut LinienSensorSpg (P1_6);
00059 
00060 #if defined(DEBUG) && DEBUG > 0
00061  #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
00062     __FILE__, __LINE__, __func__, ##args)
00063 #else
00064  #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */
00065 #endif
00066 
00067 #endif