Romain Ame / Mbed 2 deprecated Robot2016_2-0_STATIC

Voili voilou

Dependencies:   RoboClaw StepperMotor mbed

Fork of Robot2016_2-0 by ARES

Map/defines.h@41:b5a2fbc20beb, 2016-04-13 (annotated)

Committer:
sype
Date:
Wed Apr 13 11:27:34 2016 +0000
Revision:
41:b5a2fbc20beb
Parent:
39:309f38d1e49c 
Impl?mentation des dispositifs du robot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
IceTeam 12:5355aed288b0 1 #ifndef DEFINE_H
IceTeam 12:5355aed288b0 2 #define DEFINE_H
IceTeam 12:5355aed288b0 3
IceTeam 12:5355aed288b0 4 #define PLAN_B
IceTeam 12:5355aed288b0 5 //#define OUT_USB
IceTeam 12:5355aed288b0 6
IceTeam 12:5355aed288b0 7
IceTeam 12:5355aed288b0 8 enum ID
IceTeam 12:5355aed288b0 9 {
IceTeam 12:5355aed288b0 10 IDO_MG,
IceTeam 12:5355aed288b0 11 IDO_MH,
IceTeam 12:5355aed288b0 12 IDO_MD,
IceTeam 12:5355aed288b0 13 IDO_MB,
IceTeam 12:5355aed288b0 14 IDO_M1,
IceTeam 12:5355aed288b0 15 IDO_M2,
IceTeam 12:5355aed288b0 16 IDO_M3,
IceTeam 12:5355aed288b0 17 IDO_M4,
IceTeam 12:5355aed288b0 18 IDO_M5,
IceTeam 12:5355aed288b0 19 IDO_M6,
IceTeam 12:5355aed288b0 20 IDO_D1,
IceTeam 12:5355aed288b0 21 IDO_D2,
IceTeam 12:5355aed288b0 22 IDO_D3,
IceTeam 12:5355aed288b0 23 IDO_D4,
IceTeam 12:5355aed288b0 24 IDO_E,
IceTeam 12:5355aed288b0 25 IDO_S,
IceTeam 12:5355aed288b0 26 IDO_PC1,
IceTeam 12:5355aed288b0 27 IDO_PC2,
IceTeam 12:5355aed288b0 28 IDO_PC3,
IceTeam 12:5355aed288b0 29 IDO_PC4,
IceTeam 12:5355aed288b0 30 IDO_PC5,
IceTeam 12:5355aed288b0 31 IDO_P1,
IceTeam 12:5355aed288b0 32 IDO_P2,
IceTeam 12:5355aed288b0 33 IDO_P3,
IceTeam 12:5355aed288b0 34 IDO_P4,
IceTeam 12:5355aed288b0 35 IDO_P5,
IceTeam 12:5355aed288b0 36 IDO_P6,
IceTeam 12:5355aed288b0 37 IDO_P7,
IceTeam 12:5355aed288b0 38 IDO_P8,
IceTeam 12:5355aed288b0 39 IDO_P9,
IceTeam 12:5355aed288b0 40 IDO_P10,
IceTeam 12:5355aed288b0 41 IDO_P11,
IceTeam 12:5355aed288b0 42 IDO_P12,
IceTeam 12:5355aed288b0 43 IDO_P13,
IceTeam 12:5355aed288b0 44 IDO_P14,
IceTeam 12:5355aed288b0 45 IDO_P15,
IceTeam 12:5355aed288b0 46 IDO_P16,
IceTeam 12:5355aed288b0 47 IDO_DEPOT_PC,
IceTeam 12:5355aed288b0 48 IDO_DEPOT_P
IceTeam 12:5355aed288b0 49 };
IceTeam 12:5355aed288b0 50
IceTeam 39:309f38d1e49c 51 #define ROBOTRADIUS 150
IceTeam 12:5355aed288b0 52
IceTeam 12:5355aed288b0 53 #define MAXPOINT 8000
IceTeam 12:5355aed288b0 54
IceTeam 12:5355aed288b0 55 // ----- Loggeur ----- //
IceTeam 12:5355aed288b0 56
IceTeam 12:5355aed288b0 57 #ifdef OUT_USB
IceTeam 12:5355aed288b0 58 #define OUT_TX USBTX
IceTeam 12:5355aed288b0 59 #define OUT_RX USBRX
IceTeam 12:5355aed288b0 60 #else
IceTeam 12:5355aed288b0 61 #define OUT_TX PA_11
IceTeam 12:5355aed288b0 62 #define OUT_RX PA_12
IceTeam 12:5355aed288b0 63 #endif
IceTeam 12:5355aed288b0 64
IceTeam 12:5355aed288b0 65 // ----- Moteurs ----- //
IceTeam 12:5355aed288b0 66
IceTeam 12:5355aed288b0 67 #define PWM_MOT1 PB_13
IceTeam 12:5355aed288b0 68 #define PWM_MOT2 PB_14
IceTeam 12:5355aed288b0 69 #define PWM_MOT3 PB_15
IceTeam 12:5355aed288b0 70
IceTeam 12:5355aed288b0 71 #define DIR_MOT1 PC_9
IceTeam 12:5355aed288b0 72 #define DIR_MOT2 PB_8
IceTeam 12:5355aed288b0 73 #define DIR_MOT3 PB_9
IceTeam 12:5355aed288b0 74
IceTeam 12:5355aed288b0 75 // ----- Odometrie ----- //
IceTeam 12:5355aed288b0 76
IceTeam 12:5355aed288b0 77 #define ODO_G_B PA_10
IceTeam 12:5355aed288b0 78 #define ODO_G_A PB_3
IceTeam 12:5355aed288b0 79
IceTeam 12:5355aed288b0 80 #define ODO_D_B PB_5
IceTeam 12:5355aed288b0 81 #define ODO_D_A PB_4
IceTeam 12:5355aed288b0 82
IceTeam 12:5355aed288b0 83 // ----- Boutons ----- //
IceTeam 12:5355aed288b0 84
IceTeam 12:5355aed288b0 85 #define LED_DESSUS PH_1
IceTeam 12:5355aed288b0 86 #define BP_DESSUS PC_8
IceTeam 12:5355aed288b0 87 #define TIRETTE_DESSUS PC_6
IceTeam 12:5355aed288b0 88 #define COULEUR_DESSUS PC_5
IceTeam 12:5355aed288b0 89
IceTeam 12:5355aed288b0 90 #define COULEUR_JAUNE 0
IceTeam 12:5355aed288b0 91 #define COULEUR_VERTE 1
IceTeam 12:5355aed288b0 92
IceTeam 12:5355aed288b0 93 // ----- AX12 ----- //
IceTeam 12:5355aed288b0 94
IceTeam 12:5355aed288b0 95 #define AX12_TX PA_9
IceTeam 12:5355aed288b0 96 #define AX12_RX NC
IceTeam 12:5355aed288b0 97
IceTeam 12:5355aed288b0 98 #define MAX_TORQUE 300
IceTeam 12:5355aed288b0 99
IceTeam 12:5355aed288b0 100 #define BRASG_OUVERT 60
IceTeam 12:5355aed288b0 101 #define BRASG_FERME 155
IceTeam 12:5355aed288b0 102 #define BRASD_OUVERT 240
IceTeam 12:5355aed288b0 103 #define BRASD_FERME 145
IceTeam 12:5355aed288b0 104
IceTeam 12:5355aed288b0 105 #define PINCE_OUVERTE 100
IceTeam 12:5355aed288b0 106 #define PINCE_FERMEE 3
IceTeam 12:5355aed288b0 107
IceTeam 12:5355aed288b0 108 // ----- Sharp ----- //
IceTeam 12:5355aed288b0 109
IceTeam 12:5355aed288b0 110 #define SHARP_D A4
IceTeam 12:5355aed288b0 111 #define SHARP_DG A3
IceTeam 12:5355aed288b0 112 #define SHARP_DD A5
IceTeam 12:5355aed288b0 113 #define SHARP_AG A2
IceTeam 12:5355aed288b0 114 #define SHARP_AD A1
IceTeam 12:5355aed288b0 115
IceTeam 12:5355aed288b0 116 #endif