Diff: global.h

Revision:

5:f655435d0782

Parent:

3:dfb6733ae397

Child:

6:52686c25e4af

--- a/global.h	Fri Mar 18 17:05:22 2016 +0000
+++ b/global.h	Fri Mar 25 13:36:14 2016 +0000
@@ -1,11 +1,32 @@
 #include "mbed.h"
 #include "rtos.h"
 #include "Pixy.h"
+#include "PI.h"
 
 // ----------------------------------------------------------------
 // Contains common defintions share between modes
 // ----------------------------------------------------------------
 
+// Preprocessor Definitions
+// ----------------------------------------------------------------
+#define MAX_BLOCKS 1
+#define TARGET_DECIMAL 10 
+#define PWM_PERIOD 0.001
+#define MOTOR_PERIOD 0.001
+#define NAVIGATION_PERIOD 0.0167 // 60 times/sec
+
+#define MOTOR_KP 0.000120
+#define MOTOR_KI 0.0000000001
+
+#define STEERING_KP 0.01
+#define STEERING_KI 0.005
+
+#define SPEED_KP 0.01
+#define SPEED_KI 0.01
+#define SPEED_MAX 10
+
+// Global variables
+// ----------------------------------------------------------------
 // IO Port
 extern DigitalOut led1;
 extern DigitalOut led2;
@@ -22,6 +43,12 @@
 extern Serial pc; // PC serial channel
 extern Serial bt; // Bluetooth serial channel
 
+// Control
+extern PI leftMotorPi;
+extern PI rightMotorPi;
+extern PI targetHeightPi;
+extern PI targetXPi;
+
 // Other
 extern PwmOut leftPwm; 
 extern PwmOut rightPwm;