Diff: funcdef.h

Revision:

5:dfea493f7a12

Parent:

4:f1670eec4681

Child:

6:a652deaae134

--- a/funcdef.h	Wed Mar 07 19:27:13 2018 +0000
+++ b/funcdef.h	Sun Mar 11 13:15:34 2018 +0000
@@ -1,14 +1,15 @@
-//Define the file once
+//Define the file once, in the C and C++ programming languages, an #include guard,is a particular construct used to 
+//avoid the problem of double inclusion when dealing with the include directive. The addition of #include guards to a header file is one way to make that file idempotent.
 #ifndef FUNCDEF_H
 #define FUNCDEF_H
 
 //Import Modules
-#include "mbed.h"
-#include "FastPWM.h"
+#include <mbed.h>
 
 //Set up PC link (comment out when not using), set up 9600 if using plotter
 static Serial pc = Serial(USBTX, USBRX);
 
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //Pin Names
 #define sensor1pin A0
 #define sensor2pin A1
@@ -19,38 +20,69 @@
 #define sensor7pin A6
 #define sensor8pin D3
 
-#define leftMotorpin D5
-#define rightMotorpin D6
-#define buzzerPin D10
+#define leftMotorpin D6
+#define rightMotorpin D1
+#define beeperPin D10
+
+#define Kp 50
+#define Ki 0
+#define Kd 0
+#define Ac 10
 
+#define period_F6 716
+#define period_E6 758
+#define period_D6 851
+#define period_B6 506
+#define period_A6 568
+//http://www.sengpielaudio.com/calculator-notenames.htm
+
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //Pin Definitions
 static DigitalOut LEDVal = DigitalOut(LED1);
-//static PwmOut leftMotorVal = PwmOut(leftMotorpin);
-//static PwmOut rightMotorVal = PwmOut(rightMotorpin);
 
-static FastPWM leftMotorVal(leftMotorpin,1);
-static FastPWM rightMotorVal(rightMotorpin,1);
-static PwmOut buzzerVal = PwmOut(buzzerPin);
-
-//Variable Definitions
-static int sensorValue[] = {0,0,0,0,0,0,0,0};
-
-static int sensorMinValue[] = {0,0,0,0,0,0,0,0};
-static int sensorMaxValue[] = {0,0,0,0,0,0,0,0};
-
-static int sensorMinValue1[] = {0,0,0,0,0,0,0,0};
-static int sensorMaxValue1[] = {0,0,0,0,0,0,0,0};
-
-static int sensorMinValue2[] = {0,0,0,0,0,0,0,0};
-static int sensorMaxValue2[] = {0,0,0,0,0,0,0,0};
-
-static int sensorThreshold[] = {0,0,0,0,0,0,0,0};
+static PwmOut leftMotorVal=PwmOut(leftMotorpin);
+static PwmOut rightMotorVal=PwmOut(rightMotorpin);
+static PwmOut beeperVal = PwmOut(beeperPin);
 
 static AnalogIn sensorPin[] = {A0,A1,A2,A3,A4,A5,A6,D3};
 
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//Global Variable Definitions
+extern int sensorValue[8];
+
+extern int sensorMinValue[8];
+extern int sensorMaxValue[8];
+
+extern int sensorMinValue1[8];
+extern int sensorMaxValue1[8];
+
+extern int sensorMinValue2[8];
+extern int sensorMaxValue2[8];
+
+extern int sensorThreshold[8];
+extern int sensorErrors[8];
+
+extern int Prop;
+//extern int Inte;
+//extern int Dere;
+extern int errorVar;
+extern int previousError;
+extern int PIDs;
+extern int accumulator;
+extern int counter;
+extern int delayBetweenPulses_ms;
+extern int note;
+extern int initialMotorspeed;
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 //Function Definitions
+
 void CalibrateFunc(void);
-void func(void);
+void printCalibrateValues(void);
 void beep(int);
+void senseFunc(void);
+void calculateFunc(void);
+void driveFunc(void);
+void findLineFunc(void);
+void errorAccumulate(void);
 
 #endif // FUNCDEF_H
\ No newline at end of file