Hajime Muraki / Mbed 2 deprecated 1nfinity

ave

Dependencies:   QEI TextLCD mbed

main.h@0:3fd90568b788, 2013-10-17 (annotated)

Committer:
com3
Date:
Thu Oct 17 01:49:27 2013 +0000
Revision:
0:3fd90568b788
ave

Who changed what in which revision?

UserRevisionLine numberNew contents of line
com3 0:3fd90568b788 1 #include "mbed.h"
com3 0:3fd90568b788 2 #include "QEI.h"
com3 0:3fd90568b788 3 #include "TextLCD.h"
com3 0:3fd90568b788 4
com3 0:3fd90568b788 5 #define WHEEL 0
com3 0:3fd90568b788 6 #define WHEEL_V 0.5 //left
com3 0:3fd90568b788 7 #define WHEEL_VL 0.2 //right
com3 0:3fd90568b788 8 #define FLAG_W 3
com3 0:3fd90568b788 9
com3 0:3fd90568b788 10 #define ROPE 1
com3 0:3fd90568b788 11 #define ROPE_V0 0.18
com3 0:3fd90568b788 12 #define ROPE_MAX 0.08
com3 0:3fd90568b788 13 #define ROPE_V 0.05
com3 0:3fd90568b788 14 #define ROPE_S 0.05
com3 0:3fd90568b788 15 #define ROPE_L 0.001
com3 0:3fd90568b788 16 #define FLAG_R 5
com3 0:3fd90568b788 17
com3 0:3fd90568b788 18 #define TYONPA_S 700
com3 0:3fd90568b788 19 #define TYONPA_U 600
com3 0:3fd90568b788 20 #define FLAG 5
com3 0:3fd90568b788 21
com3 0:3fd90568b788 22 Timer timer2;
com3 0:3fd90568b788 23
com3 0:3fd90568b788 24 extern double ultrasonicValue[4];
com3 0:3fd90568b788 25 extern uint16_t ultrasonicVal[4];
com3 0:3fd90568b788 26 extern void Ultrasonic(void);
com3 0:3fd90568b788 27 extern void start_led(void);
com3 0:3fd90568b788 28 extern double ave(int num, double value);
com3 0:3fd90568b788 29
com3 0:3fd90568b788 30
com3 0:3fd90568b788 31 BusOut wheel(p9, p10, p11, p12);
com3 0:3fd90568b788 32 BusOut rope(p13, p14);
com3 0:3fd90568b788 33 BusOut legs(p15, p16);
com3 0:3fd90568b788 34 BusOut rgbled(p17, p18, p19);
com3 0:3fd90568b788 35 PwmOut pwm[4] = {p21, p22, p23, p24};
com3 0:3fd90568b788 36 DigitalOut myled[4] = {LED1, LED2, LED3, LED4};
com3 0:3fd90568b788 37 DigitalIn sw(p20);
com3 0:3fd90568b788 38 //InterruptIn sw(p24);
com3 0:3fd90568b788 39 QEI enc_l(p25, p26, NC, 360, QEI::X4_ENCODING);
com3 0:3fd90568b788 40 QEI enc_r(p27, p28, NC, 360, QEI::X4_ENCODING);
com3 0:3fd90568b788 41 QEI enc_p(p29, p30, NC, 360, QEI::X4_ENCODING);
com3 0:3fd90568b788 42 //TextLCD lcd(p30, p29, p28, p27, p26, p25);
com3 0:3fd90568b788 43
com3 0:3fd90568b788 44 Ticker speeder;
com3 0:3fd90568b788 45 Ticker pider;
com3 0:3fd90568b788 46 Ticker pinger;
com3 0:3fd90568b788 47
com3 0:3fd90568b788 48 Timeout rope_steper;
com3 0:3fd90568b788 49 Timeout rbleder;
com3 0:3fd90568b788 50 Timeout waiter;
com3 0:3fd90568b788 51 Timeout wheel_stoper;
com3 0:3fd90568b788 52
com3 0:3fd90568b788 53 Serial pc(USBTX, USBRX);