Clara Keng
/
FreeFlyerROS_clarakhl
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Dependencies: mbed ros_lib_kinetic
defines_debug.h@7:e165f5119950, 2019-10-14 (annotated)
- Committer:
- clarakeng
- Date:
- Mon Oct 14 23:53:05 2019 +0000
- Revision:
- 7:e165f5119950
- Parent:
- 6:7520bf98d660
Test comment
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Knillinux | 1:40bdbe1a93b7 | 1 | #ifndef DEFINES_DEBUG_H |
| Knillinux | 1:40bdbe1a93b7 | 2 | #define DEFINES_DEBUG_H |
| Knillinux | 1:40bdbe1a93b7 | 3 | |
| Knillinux | 1:40bdbe1a93b7 | 4 | //#####################################################################################\\ |
| ambyld | 5:864709d3eb76 | 5 | // Toggle between regular serial and ROS serial |
| ambyld | 5:864709d3eb76 | 6 | #define ROS_SERIAL_MODE true // Default true |
| ambyld | 5:864709d3eb76 | 7 | |
| Knillinux | 1:40bdbe1a93b7 | 8 | // Mode defines: |
| Knillinux | 1:40bdbe1a93b7 | 9 | #define NORMAL 0 |
| Knillinux | 1:40bdbe1a93b7 | 10 | #define DEBUG_THRUSTERS 1 |
| Knillinux | 1:40bdbe1a93b7 | 11 | #define DEBUG_WHEEL_CONST 2 |
| Knillinux | 1:40bdbe1a93b7 | 12 | #define DEBUG_WHEEL_PID 3 |
| Knillinux | 1:40bdbe1a93b7 | 13 | #define DEBUG_LED_CONST 4 |
| Knillinux | 1:40bdbe1a93b7 | 14 | #define DEBUG_LED_COLOR_SEQ 5 |
| Knillinux | 1:40bdbe1a93b7 | 15 | #define DEBUG_LED_ALPHA_SEQ 6 |
| Knillinux | 1:40bdbe1a93b7 | 16 | |
| ambyld | 4:cae255669971 | 17 | #define MODE NORMAL |
| Knillinux | 1:40bdbe1a93b7 | 18 | |
| Knillinux | 1:40bdbe1a93b7 | 19 | // Thruster debugging |
| Knillinux | 1:40bdbe1a93b7 | 20 | #define DT_PERIOD 500.0 // [ms] Length of thrust pulse |
| Knillinux | 1:40bdbe1a93b7 | 21 | |
| Knillinux | 1:40bdbe1a93b7 | 22 | // Wheel constant PWM debugging |
| Knillinux | 1:40bdbe1a93b7 | 23 | #define DWC_PWM 0.2 |
| Knillinux | 1:40bdbe1a93b7 | 24 | |
| Knillinux | 1:40bdbe1a93b7 | 25 | // Wheel PID debugging |
| ambyld | 6:7520bf98d660 | 26 | #define DWP_SETPOINT 200.0 |
| Knillinux | 1:40bdbe1a93b7 | 27 | |
| Knillinux | 1:40bdbe1a93b7 | 28 | // LED constant debugging |
| Knillinux | 1:40bdbe1a93b7 | 29 | #define DLC_COLOR red |
| Knillinux | 1:40bdbe1a93b7 | 30 | |
| Knillinux | 1:40bdbe1a93b7 | 31 | // Other modes |
| Knillinux | 1:40bdbe1a93b7 | 32 | #define MODE_DUTY_CYCLE_CMD false |
| Knillinux | 1:40bdbe1a93b7 | 33 | #define MODE_FEED_FORWARD false |
| Knillinux | 1:40bdbe1a93b7 | 34 | |
| Knillinux | 1:40bdbe1a93b7 | 35 | #endif |