Übung
Fork of Bertl by
config.h
- Committer:
- bulmecisco
- Date:
- 2015-04-26
- Revision:
- 12:cedc088eaf05
- Parent:
- 4:76acfddc26fb
- Child:
- 13:3ce84646fd74
File content as of revision 12:cedc088eaf05:
/*! \file config.h \brief A Documented file. * name: config.h Version: 1.1 \n * author: PE HTL BULME \n * email: pe@bulme.at \n * description: * Wiring for ur_Bertl The Robot */ #include "mbed.h" #include "hcsr04.h" #include "const.h" #ifndef CONFIG_H #define CONFIG_H /*! \def DEBUG \brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */ #define DEBUG 0 //#define FRONTBUTTON /**< Error shutoff if Bertl moves against a wall*/ #define HCSR /**< if ultrsonic is installed*/ BusOut NibbleLEDs(P1_8, P1_9, P1_10, P1_11); /**< 4 yellow LEDs as a bus defined; use it i.e.: karel.NibbleLeds(karel.GetLineValues()); to show line sensor values */ DigitalOut LED_D10(P1_8); /**< wiring first LED_D10 */ DigitalOut LED_D11(P1_9); /**< wiring second LED_D11 */ DigitalOut LED_D12(P1_10); /**< wiring thired LED_D12 */ DigitalOut LED_D13(P1_11); /**< wiring fourth LED_D13 */ DigitalOut LED_blue(P1_28); /**< all blue LEDs are on Port 1_28 */ DigitalOut RGB_blue(P1_24); /**< RGB blue component of the color uP -> Port 1_24 */ DigitalOut RGB_red(P1_23); /**< RGB red component of the color uP -> Port 1_23 */ DigitalOut RGB_green(P1_25); /**< RGB green component of the color uP -> Port 1_25 */ //------------------ CHANGE ONLY IF NESSESARY ------------------------------------- DigitalOut MotorL_EN(p34); // wiring motor left DigitalOut MotorL_FORWARD(P1_1); DigitalOut MotorL_REVERSE(P1_0); DigitalOut MotorR_EN(p36); // wiring motor right DigitalOut MotorR_FORWARD(P1_3); DigitalOut MotorR_REVERSE(P1_4); I2C i2c(p28,p27); BusIn linesensor(p18, p16, p19, p17); DigitalIn SensorL(P1_12); /**< motor sensor left on Port P1_12 */ DigitalIn SensorR(P1_13); /**< motor sensor right on Port P1_13 */ HCSR04 usensor(p21,p22); // HC-SR04 ultrasonic sensor PwmOut mg1(P1_15); // PWM out motor left PwmOut mg2(P0_21); // PWM out motor right Serial pc(USBTX, USBRX); // tx, rx #if defined(DEBUG) && DEBUG > 0 #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \ __FILE__, __LINE__, __func__, ##args) #else #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */ #endif #endif