Diff: global.h

Revision:

2:2bc519e14bae

Child:

3:dfb6733ae397

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/global.h	Sun Mar 13 17:55:42 2016 +0000
@@ -0,0 +1,27 @@
+#include "mbed.h"
+#include "rtos.h"
+
+// ----------------------------------------------------------------
+// Contains common defintions share between modes
+// ----------------------------------------------------------------
+
+// IO Port
+extern DigitalOut led1;
+extern DigitalOut led2;
+extern DigitalOut led3;
+extern DigitalOut led4;
+extern DigitalOut leftDir;
+extern DigitalOut rightDir;
+extern DigitalOut spiReset;
+extern DigitalOut ioReset;
+
+// Comunication 
+extern PwmOut leftPwm; 
+extern PwmOut rightPwm; 
+extern SPI deSpi;
+extern Serial pc; // PC serial channel
+extern Serial bt; // Bluetooth serial channel
+
+// Method prototypes
+void PI(float *xState, float *u, float setPoint, float kP, float kI, float feedback, float bound);
+float QE2RadsPerSec(int counts, int time);
\ No newline at end of file