def_resources.cpp

00001 /*
00002 
00003     Controller firmware for CaitSithDanger
00004     
00005     Kyoto-Densou-An 2014
00006 
00007     Author : yishii
00008 */
00009 
00010 #include <mbed.h>
00011 #include "PwmServo.h"
00012 #include "ExtendedServo.h"
00013 #include "DelayServo.h"
00014 #include "Roomba.h"
00015 #include "DerivedRoomba.h"
00016 #include "Data.h"
00017 
00018 Serial pc(PA_11, PA_12);
00019 //Serial pc(SERIAL_TX, SERIAL_RX);
00020 DerivedRoomba base(PA_9, PA_10, PA_14);
00021 
00022 //DelayServo shakeHead(PA_10, 25, 10000, 170, 5, 100, true);
00023 //DelayServo nodHead(PB_10, 25, 10000, 170, 5, 110, true);
00024 //
00025 //DelayServo leftArm(PA_8, 10, 10000, 170, 5, 94, true);
00026 //DelayServo leftShoulder(PA_9, 10, 10000, 170, 5, 90, true);
00027 //
00028 //DelayServo rightArm(PB_8, 10, 10000, 170, 5, 116, true);
00029 //DelayServo rightShoulder(PB_9, 10, 10000, 170, 5, 90, false);
00030 
00031 ExtendedServo shakeHead(PB_3, 170, 5, 100, true);
00032 ExtendedServo nodHead(PB_10, 170, 5, 110, true);
00033 ExtendedServo leftArm(PA_8, 170, 5, 94, true);
00034 ExtendedServo leftShoulder(PB_5, 170, 5, 90, true);
00035 ExtendedServo rightArm(PB_8, 170, 5, 116, true);
00036 ExtendedServo rightShoulder(PB_9, 170, 5, 90, false);
00037 ExtendedServo oyatsuFeeder(PA_0, 170, 10, 0, false);
00038 
00039 DigitalOut debugled(PA_15);
00040 DigitalOut myled(LED1);
00041 DigitalOut nyandaBeam(PA_13);