Andrew Schaeffer
This is the project for the Old Model Robots for OU's Dr. Davis's Configurable Robots Research. This is being published so future robots can be set up easily.
Dependencies: FatFileSystem MCP3008 Motor PinDetect QTR_8A SRF05 SSD1308_128x64_I2C mbed
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Utils.h
00001 #ifndef UTILS_H 00002 #define UTILS_H 00003 00004 typedef unsigned char u8; 00005 typedef unsigned short u16; 00006 typedef unsigned long u32; 00007 00008 void DelayMS(int ms); 00009 00010 void printfBytes(const char* label,const u8* data, int len); 00011 void printHex(const u8* d, int len); 00012 00013 #ifndef min 00014 #define min(_a,_b) ((_a) < (_b) ? (_a) : (_b)) 00015 #endif 00016 00017 inline int LE16(const u8* d) 00018 { 00019 return d[0] | (d[1] << 8); 00020 } 00021 00022 inline u32 BE32(const u8* d) 00023 { 00024 return (d[0] << 24) | (d[1] << 16) | (d[2] << 8) | d[3]; 00025 } 00026 00027 inline void BE32(u32 n, u8* d) 00028 { 00029 d[0] = (u8)(n >> 24); 00030 d[1] = (u8)(n >> 16); 00031 d[2] = (u8)(n >> 8); 00032 d[3] = (u8)n; 00033 } 00034 00035 inline void BE16(u32 n, u8* d) 00036 { 00037 d[0] = (u8)(n >> 8); 00038 d[1] = (u8)n; 00039 } 00040 00041 #endif
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