The subsystem design/basis for the final project
Dependencies: mbed-rtos mbed-src pixylib
global.h@2:2bc519e14bae, 2016-03-13 (annotated)
- Committer:
- balsamfir
- Date:
- Sun Mar 13 17:55:42 2016 +0000
- Revision:
- 2:2bc519e14bae
- Child:
- 3:dfb6733ae397
First compile of big ass change
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
balsamfir | 2:2bc519e14bae | 1 | #include "mbed.h" |
balsamfir | 2:2bc519e14bae | 2 | #include "rtos.h" |
balsamfir | 2:2bc519e14bae | 3 | |
balsamfir | 2:2bc519e14bae | 4 | // ---------------------------------------------------------------- |
balsamfir | 2:2bc519e14bae | 5 | // Contains common defintions share between modes |
balsamfir | 2:2bc519e14bae | 6 | // ---------------------------------------------------------------- |
balsamfir | 2:2bc519e14bae | 7 | |
balsamfir | 2:2bc519e14bae | 8 | // IO Port |
balsamfir | 2:2bc519e14bae | 9 | extern DigitalOut led1; |
balsamfir | 2:2bc519e14bae | 10 | extern DigitalOut led2; |
balsamfir | 2:2bc519e14bae | 11 | extern DigitalOut led3; |
balsamfir | 2:2bc519e14bae | 12 | extern DigitalOut led4; |
balsamfir | 2:2bc519e14bae | 13 | extern DigitalOut leftDir; |
balsamfir | 2:2bc519e14bae | 14 | extern DigitalOut rightDir; |
balsamfir | 2:2bc519e14bae | 15 | extern DigitalOut spiReset; |
balsamfir | 2:2bc519e14bae | 16 | extern DigitalOut ioReset; |
balsamfir | 2:2bc519e14bae | 17 | |
balsamfir | 2:2bc519e14bae | 18 | // Comunication |
balsamfir | 2:2bc519e14bae | 19 | extern PwmOut leftPwm; |
balsamfir | 2:2bc519e14bae | 20 | extern PwmOut rightPwm; |
balsamfir | 2:2bc519e14bae | 21 | extern SPI deSpi; |
balsamfir | 2:2bc519e14bae | 22 | extern Serial pc; // PC serial channel |
balsamfir | 2:2bc519e14bae | 23 | extern Serial bt; // Bluetooth serial channel |
balsamfir | 2:2bc519e14bae | 24 | |
balsamfir | 2:2bc519e14bae | 25 | // Method prototypes |
balsamfir | 2:2bc519e14bae | 26 | void PI(float *xState, float *u, float setPoint, float kP, float kI, float feedback, float bound); |
balsamfir | 2:2bc519e14bae | 27 | float QE2RadsPerSec(int counts, int time); |