Eigene Funktionen
Fork of Bertl by
const.h@12:cedc088eaf05, 2015-04-26 (annotated)
- Committer:
- bulmecisco
- Date:
- Sun Apr 26 20:04:47 2015 +0000
- Revision:
- 12:cedc088eaf05
- Parent:
- 11:155ce3832f01
- Child:
- 13:3ce84646fd74
Class Bertl with additional Methodes added
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bulmecisco | 0:66e9a0afcbd6 | 1 | /*! \file const.h |
bulmecisco | 0:66e9a0afcbd6 | 2 | \brief A Documented file. |
bulmecisco | 12:cedc088eaf05 | 3 | * name: const.h Version: 2.2 \n |
bulmecisco | 4:76acfddc26fb | 4 | * author: PE HTL BULME \n |
bulmecisco | 4:76acfddc26fb | 5 | * email: pe@bulme.at \n |
bulmecisco | 0:66e9a0afcbd6 | 6 | * description: |
bulmecisco | 8:07e55b300ff1 | 7 | * Constants for ur_Bertl The Robot |
bulmecisco | 8:07e55b300ff1 | 8 | * Constant for Robot from objectiv Robot added |
bulmecisco | 0:66e9a0afcbd6 | 9 | */ |
bulmecisco | 0:66e9a0afcbd6 | 10 | #ifndef CONST_H |
bulmecisco | 0:66e9a0afcbd6 | 11 | #define CONST_H |
bulmecisco | 12:cedc088eaf05 | 12 | #define TIME /**< if defined Bertl uses the time and not motor encoder*/ |
bulmecisco | 12:cedc088eaf05 | 13 | const int MOVE=500; /**< ms move forward or backward */ |
bulmecisco | 12:cedc088eaf05 | 14 | const int TURN=500; /**< ms TurnLeft or TurnRigth (nearly 90 degree) */ |
bulmecisco | 12:cedc088eaf05 | 15 | const int STEPTIME=20; /**< ms turn left or right for adjusting moves for TurnLeft or TurnRigth */ |
bulmecisco | 0:66e9a0afcbd6 | 16 | |
bulmecisco | 6:df6830254e8b | 17 | /*! \var int ULTRASONIC_DISTANCE |
bulmecisco | 6:df6830254e8b | 18 | \brief Bertl Ultrasonic Distance Sensor from 1 to n; 5 is ok for nearly 5 cm. |
bulmecisco | 6:df6830254e8b | 19 | \warning no warning*/ |
bulmecisco | 6:df6830254e8b | 20 | const int ULTRASONIC_DISTANCE = 5; /* Distance sensor */ |
bulmecisco | 0:66e9a0afcbd6 | 21 | /*! \var int SPEED |
bulmecisco | 0:66e9a0afcbd6 | 22 | \brief Bertl speed 0.2 (slow) - 1.0 (fast). |
bulmecisco | 0:66e9a0afcbd6 | 23 | \warning speed below 0.2 possible the motor won't start */ |
DerMax | 10:207a1e646191 | 24 | const float SPEED = 0.2; /* Bertl speed 0.2 (slow) - 1.0 (fast) */ |
bulmecisco | 0:66e9a0afcbd6 | 25 | /*! \var int DISTANCE |
bulmecisco | 0:66e9a0afcbd6 | 26 | \brief one wheel turn is appr. 24 ticks. |
bulmecisco | 0:66e9a0afcbd6 | 27 | \warning maybe the number has to be adjusted */ |
bulmecisco | 4:76acfddc26fb | 28 | const int DISTANCE = 12; /* one wheel turn is appr. 24 ticks */ |
bulmecisco | 0:66e9a0afcbd6 | 29 | /*! \var int ANGLE |
bulmecisco | 0:66e9a0afcbd6 | 30 | \brief 12 is nearly 90 degree turn left. |
bulmecisco | 0:66e9a0afcbd6 | 31 | \warning maybe the number has to be adjusted */ |
bulmecisco | 12:cedc088eaf05 | 32 | const int ANGLE = 12; /* nearly 90 degree turn left */ |
bulmecisco | 0:66e9a0afcbd6 | 33 | |
bulmecisco | 0:66e9a0afcbd6 | 34 | const int BTN_FLL = 0x80; // button front left outer |
bulmecisco | 0:66e9a0afcbd6 | 35 | const int BTN_FL = 0x04; // button front left |
bulmecisco | 0:66e9a0afcbd6 | 36 | const int BTN_FM = 0x01; // button front middle |
bulmecisco | 0:66e9a0afcbd6 | 37 | const int BTN_FR = 0x08; // button front right |
bulmecisco | 0:66e9a0afcbd6 | 38 | const int BTN_FRR = 0x40; // button front right outer |
bulmecisco | 0:66e9a0afcbd6 | 39 | const int BTN_BL = 0x10; // button back left |
bulmecisco | 0:66e9a0afcbd6 | 40 | const int BTN_BM = 0x02; // button back middle |
bulmecisco | 0:66e9a0afcbd6 | 41 | const int BTN_BR = 0x20; // button back right |
bulmecisco | 0:66e9a0afcbd6 | 42 | |
bulmecisco | 0:66e9a0afcbd6 | 43 | const int LED_FL1 = 0x01; /**< front LED white */ |
bulmecisco | 0:66e9a0afcbd6 | 44 | const int LED_FL2 = 0x02; /**< front LED yellow */ |
bulmecisco | 0:66e9a0afcbd6 | 45 | const int LED_FR1 = 0x04; /**< front LED white */ |
bulmecisco | 0:66e9a0afcbd6 | 46 | const int LED_FR2 = 0x08; /**< front LED yellow */ |
bulmecisco | 0:66e9a0afcbd6 | 47 | const int LED_ALL_FRONT = 0x0F; |
bulmecisco | 0:66e9a0afcbd6 | 48 | |
bulmecisco | 0:66e9a0afcbd6 | 49 | const int LED_BL1 = 0x20; /**< yellow LED back left outer */ |
bulmecisco | 0:66e9a0afcbd6 | 50 | const int LED_BL2 = 0x10; /**< red LED back left inner */ |
bulmecisco | 0:66e9a0afcbd6 | 51 | const int LED_BR1 = 0x80; /**< yellow LED back right outer */ |
bulmecisco | 0:66e9a0afcbd6 | 52 | const int LED_BR2 = 0x40; /**< red LED back right inner */ |
bulmecisco | 0:66e9a0afcbd6 | 53 | const int LED_ALL_BACK = 0xF0; |
bulmecisco | 0:66e9a0afcbd6 | 54 | const int LED_ALL = 0xFF; |
bulmecisco | 0:66e9a0afcbd6 | 55 | |
bulmecisco | 1:fafbac0ba96d | 56 | const int LED_BLUE = 0xBB; |
bulmecisco | 1:fafbac0ba96d | 57 | |
bulmecisco | 0:66e9a0afcbd6 | 58 | const int addr = 0x40; // I2C-address PCA9555 |
bulmecisco | 0:66e9a0afcbd6 | 59 | const int PERIOD = 20; // PWM period |
bulmecisco | 0:66e9a0afcbd6 | 60 | const int PULSWIDTH = 5; // PWN pulswidth |
bulmecisco | 8:07e55b300ff1 | 61 | const int East = 1; |
bulmecisco | 8:07e55b300ff1 | 62 | const int West = 2; |
bulmecisco | 8:07e55b300ff1 | 63 | const int North = 3; |
bulmecisco | 8:07e55b300ff1 | 64 | const int South = 4; |
bulmecisco | 0:66e9a0afcbd6 | 65 | |
bulmecisco | 0:66e9a0afcbd6 | 66 | |
bulmecisco | 0:66e9a0afcbd6 | 67 | #endif |