Diff: main.h

Revision:

0:3fd90568b788

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Thu Oct 17 01:49:27 2013 +0000
@@ -0,0 +1,53 @@
+#include "mbed.h"
+#include "QEI.h"
+#include "TextLCD.h"
+
+#define WHEEL   0
+#define WHEEL_V 0.5     //left
+#define WHEEL_VL 0.2    //right
+#define FLAG_W  3
+
+#define ROPE    1
+#define ROPE_V0 0.18
+#define ROPE_MAX    0.08
+#define ROPE_V  0.05
+#define ROPE_S  0.05
+#define ROPE_L  0.001
+#define FLAG_R  5
+
+#define TYONPA_S    700
+#define TYONPA_U    600
+#define FLAG    5
+
+Timer timer2;
+
+extern double ultrasonicValue[4];
+extern uint16_t ultrasonicVal[4];
+extern void Ultrasonic(void);
+extern void start_led(void);
+extern double ave(int num, double value);
+
+
+BusOut wheel(p9, p10, p11, p12);
+BusOut rope(p13, p14);
+BusOut legs(p15, p16);
+BusOut rgbled(p17, p18, p19);
+PwmOut pwm[4] = {p21, p22, p23, p24};
+DigitalOut myled[4] = {LED1, LED2, LED3, LED4};
+DigitalIn sw(p20);
+//InterruptIn sw(p24);
+QEI enc_l(p25, p26, NC, 360, QEI::X4_ENCODING);
+QEI enc_r(p27, p28, NC, 360, QEI::X4_ENCODING);
+QEI enc_p(p29, p30, NC, 360, QEI::X4_ENCODING);
+//TextLCD lcd(p30, p29, p28, p27, p26, p25);
+
+Ticker speeder;
+Ticker pider;
+Ticker pinger;
+
+Timeout rope_steper;
+Timeout rbleder;
+Timeout waiter;
+Timeout wheel_stoper;
+
+Serial pc(USBTX, USBRX);
\ No newline at end of file