Code for a quadrapod robot.
Dependencies: ArthropodIK MMA8451Q MODSERIAL TSI TextLCD mbed-rtos mbed PolyServo
quadrapod_defs.h
- Committer:
- ikrase
- Date:
- 2015-07-07
- Revision:
- 10:11176c9c42fc
- Parent:
- 9:6c86118bb219
File content as of revision 10:11176c9c42fc:
#ifndef QUADRAPOD_DEFS_H #define QUADRAPOD_DEFS_H /* This header file defines pin names and similar stuff. */ #include "mbed.h" /* Constant definitions. */ #define RAD2DEG 57.2957795 #ifndef PI #define PI 3.14159265359 #endif /* Management and control lines */ #define BATTSENSE PTC1 #define PWR_GOOD PTD6 #define BUZZER PTE31 #define RADIO_UART_TX PTE22 #define RADIO_UART_RX PTE23 /* UI (LCD and button) Lines */ #define LED_BL_RED PTE20 #define LED_BL_GRN PTE21 #define LED_BL_BLU PTE29 #define LCD_RS PTD7 #define LCD_RW PTE2 #define LCD_EN PTE3 #define LCD_D4 PTB9 #define LCD_D5 PTE4 #define LCD_D6 PTE5 #define LCD_D7 PTE30 #define SEL_BUTTON PTA16 #define ENTER_BUTON PTA17 /* External IO connection lines */ #define AUX_IN PTC3 #define EXT_SDA PTC11 #define EXT_SCL PTC10 #define EXT_CS PTD0 #define EXT_SCK PTD1 #define EXT_MOSI PTD2 #define EXT_MISO PTD3 #define EXT_UART_TX PTE0 #define EXT_UART_RX PTE1 /* Servo Block Lines */ #define SA1 PTC0 #define SA2 PTC2 #define SA3 PTC4 #define SB1 PTC5 #define SB2 PTC6 #define SB3 PTC7 #define SC1 PTC8 #define SC2 PTC9 #define SC3 PTC12 #define SD1 PTC13 #define SD2 PTC16 #define SD3 PTC17 /* Leg sensor lines, in case I ever get that working */ #define SNA PTB0 #define SNB PTB1 #define SNC PTB2 #define SCD PTB3 //#define PI 3.14159265359 #endif