Diff: library.h

Revision:

1:19d647492936

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/library.h	Thu Nov 10 13:29:43 2011 +0000
@@ -0,0 +1,39 @@
+#include         "mbed.h"
+#include          "QEI.h"
+#include "ClockControl.h"
+
+//Number of pulses in one revolution
+#define  PULSE 6144  //12(encorder_plse) * 16(gear_head) * 32(wheel)
+#define LENGTH    4  //servo_number
+
+Serial        device( p28, p27 );   //serial_PC
+Serial         servo( p9, p10 );    //serial_servo
+QEI            r_enc(  p6,  p5, NC, PULSE, QEI :: X4_ENCODING );    //encorder(right_motor)
+QEI            l_enc( p18, p17, NC, PULSE, QEI :: X4_ENCODING );    //encorder(left_motor)
+PwmOut     right_pwm( p22 );    //PWM(right_motor)
+PwmOut      left_pwm( p21 );    //PWM(left_motor)
+DigitalOut   right_P( p7 );     //H bridge(right_motor)
+DigitalOut   right_N( p8 );     //H bridge(right_motor)
+DigitalOut    left_P( p15 );    //H bridge(left_motor)
+DigitalOut    left_N( p16 );    //H bridge(left_motor)
+DigitalOut    enable( p19 );    //Enable_pin(motor_driver)
+PwmOut          led1( p23 );    //LED for observation of the robot
+PwmOut          led2( p24 );    //LED for observation of the robot
+
+//motor.h
+void    qei( void );
+void   move_f( double, double );
+void   move_b( double, double );
+void   turn_r( double, double );
+void   turn_l( double, double );
+void   stop( void );
+
+//servo.h
+short ID_num[LENGTH] = { 0x01, 0x02, 0x03, 0x04 };
+short degree[LENGTH] = { 0, 1500, -1500, 0 };
+
+void control_servo( void );
+void       cal_deg( short, short *, short * );
+void          save( short );
+short      cal_sum( short *, int );
+void        id_set( void );
\ No newline at end of file