Dr. Pucher / ur_Bertl

Class Bertl added

Dependencies:   HCSR

Dependents:   BertlDrive_V2 BertlDrive_V2

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 
Class Bertl with additional Methodes added

Who changed what in which revision?

UserRevisionLine numberNew 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