Eigene Funktionen
Fork of Bertl by
const.h
- Committer:
- bulmecisco
- Date:
- 2015-05-08
- Revision:
- 15:43d6a7e6e64a
- Parent:
- 13:3ce84646fd74
- Child:
- 17:308802267a62
File content as of revision 15:43d6a7e6e64a:
/*! \file const.h \brief A Documented file. * name: const.h Version: 3.0 \n * author: PE HTL BULME \n * email: pe@bulme.at \n * description: * Constants for ur_Bertl The Robot * Constant for Robot from objectiv Robot added */ #ifndef CONST_H #define CONST_H #define TIME /**< if defined Bertl uses the time and not motor encoder*/ const int MOVE=500; /**< ms move forward or backward */ const int TURN=500; /**< ms TurnLeft or TurnRigth (nearly 90 degree) */ const int STEPTIME=20; /**< ms turn left or right for adjusting moves for TurnLeft or TurnRigth */ /*! \var int ULTRASONIC_DISTANCE \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm. \warning no warning*/ const int ULTRASONIC_DISTANCE = 5; /* Distance sensor */ /*! \var int SPEED \brief Bertl speed 0.2 (slow) - 1.0 (fast). \warning speed below 0.2 possible the motor won't start */ const float SPEED = 0.4; /* Bertl speed 0.2 (slow) - 1.0 (fast) */ /*! \var int DISTANCE \brief one wheel turn is appr. 24 ticks. \warning maybe the number has to be adjusted */ const int DISTANCE = 12; /* one wheel turn is appr. 24 ticks */ /*! \var int ANGLE \brief 12 is nearly 90 degree turn left. \warning maybe the number has to be adjusted */ const int ANGLE = 12; /* nearly 90 degree turn left */ const int BTN_FLL = 0x80; // button front left outer const int BTN_FL = 0x04; // button front left const int BTN_FM = 0x01; // button front middle const int BTN_FR = 0x08; // button front right const int BTN_FRR = 0x40; // button front right outer const int BTN_BL = 0x10; // button back left const int BTN_BM = 0x02; // button back middle const int BTN_BR = 0x20; // button back right const int LED_FL1 = 0x01; /**< front LED white */ const int LED_FL2 = 0x02; /**< front LED yellow */ const int LED_FR1 = 0x04; /**< front LED white */ const int LED_FR2 = 0x08; /**< front LED yellow */ const int LED_ALL_FRONT = 0x0F; const int LED_BL1 = 0x20; /**< yellow LED back left outer */ const int LED_BL2 = 0x10; /**< red LED back left inner */ const int LED_BR1 = 0x80; /**< yellow LED back right outer */ const int LED_BR2 = 0x40; /**< red LED back right inner */ const int LED_ALL_BACK = 0xF0; const int LED_ALL = 0xFF; const int LED_BLUE = 0xBB; const int addr = 0x40; // I2C-address PCA9555 const int PERIOD = 20; // PWM period const int PULSWIDTH = 5; // PWN pulswidth const int East = 1; const int West = 2; const int North = 3; const int South = 4; #endif