Dr. Pucher / ur_Bertl

Class Bertl added

Dependencies:   HCSR

Dependents:   BertlDrive_V2 BertlDrive_V2

config.h@12:cedc088eaf05, 2015-04-26 (annotated)

Committer:
bulmecisco
Date:
Sun Apr 26 20:04:47 2015 +0000
Revision:
12:cedc088eaf05
Parent:
4:76acfddc26fb 
Class Bertl with additional Methodes added

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bulmecisco 0:66e9a0afcbd6 1 /*! \file config.h
bulmecisco 0:66e9a0afcbd6 2 \brief A Documented file.
bulmecisco 4:76acfddc26fb 3 * name: config.h Version: 1.1 \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 0:66e9a0afcbd6 7 * Wiring for ur_Bertl The Robot
bulmecisco 0:66e9a0afcbd6 8 */
bulmecisco 0:66e9a0afcbd6 9
bulmecisco 0:66e9a0afcbd6 10 #include "mbed.h"
bulmecisco 0:66e9a0afcbd6 11 #include "hcsr04.h"
bulmecisco 0:66e9a0afcbd6 12 #include "const.h"
bulmecisco 0:66e9a0afcbd6 13
bulmecisco 0:66e9a0afcbd6 14 #ifndef CONFIG_H
bulmecisco 0:66e9a0afcbd6 15 #define CONFIG_H
bulmecisco 0:66e9a0afcbd6 16 /*! \def DEBUG
bulmecisco 0:66e9a0afcbd6 17 \brief Turns debugging infos off (0) and on (3) which are send to serial pc.uart */
bulmecisco 0:66e9a0afcbd6 18 #define DEBUG 0
bulmecisco 12:cedc088eaf05 19 //#define FRONTBUTTON /**< Error shutoff if Bertl moves against a wall*/
bulmecisco 1:fafbac0ba96d 20 #define HCSR /**< if ultrsonic is installed*/
bulmecisco 0:66e9a0afcbd6 21
bulmecisco 12:cedc088eaf05 22 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 */
bulmecisco 0:66e9a0afcbd6 23 DigitalOut LED_D10(P1_8); /**< wiring first LED_D10 */
bulmecisco 0:66e9a0afcbd6 24 DigitalOut LED_D11(P1_9); /**< wiring second LED_D11 */
bulmecisco 0:66e9a0afcbd6 25 DigitalOut LED_D12(P1_10); /**< wiring thired LED_D12 */
bulmecisco 0:66e9a0afcbd6 26 DigitalOut LED_D13(P1_11); /**< wiring fourth LED_D13 */
bulmecisco 0:66e9a0afcbd6 27
bulmecisco 0:66e9a0afcbd6 28 DigitalOut LED_blue(P1_28); /**< all blue LEDs are on Port 1_28 */
bulmecisco 0:66e9a0afcbd6 29
bulmecisco 0:66e9a0afcbd6 30 DigitalOut RGB_blue(P1_24); /**< RGB blue component of the color uP -> Port 1_24 */
bulmecisco 0:66e9a0afcbd6 31 DigitalOut RGB_red(P1_23); /**< RGB red component of the color uP -> Port 1_23 */
bulmecisco 0:66e9a0afcbd6 32 DigitalOut RGB_green(P1_25); /**< RGB green component of the color uP -> Port 1_25 */
bulmecisco 0:66e9a0afcbd6 33
bulmecisco 0:66e9a0afcbd6 34 //------------------ CHANGE ONLY IF NESSESARY -------------------------------------
bulmecisco 0:66e9a0afcbd6 35
bulmecisco 0:66e9a0afcbd6 36 DigitalOut MotorL_EN(p34); // wiring motor left
bulmecisco 0:66e9a0afcbd6 37 DigitalOut MotorL_FORWARD(P1_1);
bulmecisco 0:66e9a0afcbd6 38 DigitalOut MotorL_REVERSE(P1_0);
bulmecisco 0:66e9a0afcbd6 39
bulmecisco 0:66e9a0afcbd6 40 DigitalOut MotorR_EN(p36); // wiring motor right
bulmecisco 0:66e9a0afcbd6 41 DigitalOut MotorR_FORWARD(P1_3);
bulmecisco 0:66e9a0afcbd6 42 DigitalOut MotorR_REVERSE(P1_4);
bulmecisco 0:66e9a0afcbd6 43
bulmecisco 0:66e9a0afcbd6 44 I2C i2c(p28,p27);
bulmecisco 0:66e9a0afcbd6 45 BusIn linesensor(p18, p16, p19, p17);
bulmecisco 0:66e9a0afcbd6 46 DigitalIn SensorL(P1_12); /**< motor sensor left on Port P1_12 */
bulmecisco 0:66e9a0afcbd6 47 DigitalIn SensorR(P1_13); /**< motor sensor right on Port P1_13 */
bulmecisco 0:66e9a0afcbd6 48 HCSR04 usensor(p21,p22); // HC-SR04 ultrasonic sensor
bulmecisco 0:66e9a0afcbd6 49 PwmOut mg1(P1_15); // PWM out motor left
bulmecisco 0:66e9a0afcbd6 50 PwmOut mg2(P0_21); // PWM out motor right
bulmecisco 0:66e9a0afcbd6 51
bulmecisco 0:66e9a0afcbd6 52 Serial pc(USBTX, USBRX); // tx, rx
bulmecisco 0:66e9a0afcbd6 53
bulmecisco 0:66e9a0afcbd6 54 #if defined(DEBUG) && DEBUG > 0
bulmecisco 0:66e9a0afcbd6 55 #define DEBUG_PRINT(fmt, args...) fprintf(stderr, "DEBUG: %s:%d:%s(): " fmt, \
bulmecisco 0:66e9a0afcbd6 56 __FILE__, __LINE__, __func__, ##args)
bulmecisco 0:66e9a0afcbd6 57 #else
bulmecisco 0:66e9a0afcbd6 58 #define DEBUG_PRINT(fmt, args...) /* Don't do anything in release builds */
bulmecisco 0:66e9a0afcbd6 59 #endif
bulmecisco 0:66e9a0afcbd6 60
bulmecisco 0:66e9a0afcbd6 61 #endif