main.h

00001 #include "mbed.h"
00002 #include "QEI.h"
00003 #include "TextLCD.h"
00004 
00005 #define WHEEL   0
00006 #define WHEEL_V 0.5     //left
00007 #define WHEEL_VL 0.2    //right
00008 #define FLAG_W  3
00009 
00010 #define ROPE    1
00011 #define ROPE_V0 0.18
00012 #define ROPE_MAX    0.08
00013 #define ROPE_V  0.05
00014 #define ROPE_S  0.05
00015 #define ROPE_L  0.001
00016 #define FLAG_R  5
00017 
00018 #define TYONPA_S    700
00019 #define TYONPA_U    600
00020 #define FLAG    5
00021 
00022 Timer timer2;
00023 
00024 extern double ultrasonicValue[4];
00025 extern uint16_t ultrasonicVal[4];
00026 extern void Ultrasonic(void);
00027 extern void start_led(void);
00028 extern double ave(int num, double value);
00029 
00030 
00031 BusOut wheel(p9, p10, p11, p12);
00032 BusOut rope(p13, p14);
00033 BusOut legs(p15, p16);
00034 BusOut rgbled(p17, p18, p19);
00035 PwmOut pwm[4] = {p21, p22, p23, p24};
00036 DigitalOut myled[4] = {LED1, LED2, LED3, LED4};
00037 DigitalIn sw(p20);
00038 //InterruptIn sw(p24);
00039 QEI enc_l(p25, p26, NC, 360, QEI::X4_ENCODING);
00040 QEI enc_r(p27, p28, NC, 360, QEI::X4_ENCODING);
00041 QEI enc_p(p29, p30, NC, 360, QEI::X4_ENCODING);
00042 //TextLCD lcd(p30, p29, p28, p27, p26, p25);
00043 
00044 Ticker speeder;
00045 Ticker pider;
00046 Ticker pinger;
00047 
00048 Timeout rope_steper;
00049 Timeout rbleder;
00050 Timeout waiter;
00051 Timeout wheel_stoper;
00052 
00053 Serial pc(USBTX, USBRX);