Code for a quadrapod robot.
Dependencies: ArthropodIK MMA8451Q MODSERIAL TSI TextLCD mbed-rtos mbed PolyServo
quadrapod_defs.h
00001 #ifndef QUADRAPOD_DEFS_H 00002 #define QUADRAPOD_DEFS_H 00003 00004 /* This header file defines pin names and similar stuff. */ 00005 #include "mbed.h" 00006 00007 /* Constant definitions. */ 00008 #define RAD2DEG 57.2957795 00009 00010 #ifndef PI 00011 #define PI 3.14159265359 00012 #endif 00013 00014 00015 00016 /* Management and control lines */ 00017 00018 #define BATTSENSE PTC1 00019 #define PWR_GOOD PTD6 00020 #define BUZZER PTE31 00021 00022 #define RADIO_UART_TX PTE22 00023 #define RADIO_UART_RX PTE23 00024 00025 /* UI (LCD and button) Lines */ 00026 00027 #define LED_BL_RED PTE20 00028 #define LED_BL_GRN PTE21 00029 #define LED_BL_BLU PTE29 00030 00031 #define LCD_RS PTD7 00032 #define LCD_RW PTE2 00033 #define LCD_EN PTE3 00034 #define LCD_D4 PTB9 00035 #define LCD_D5 PTE4 00036 #define LCD_D6 PTE5 00037 #define LCD_D7 PTE30 00038 00039 00040 00041 #define SEL_BUTTON PTA16 00042 #define ENTER_BUTON PTA17 00043 00044 /* External IO connection lines */ 00045 00046 #define AUX_IN PTC3 00047 00048 #define EXT_SDA PTC11 00049 #define EXT_SCL PTC10 00050 00051 #define EXT_CS PTD0 00052 #define EXT_SCK PTD1 00053 #define EXT_MOSI PTD2 00054 #define EXT_MISO PTD3 00055 00056 #define EXT_UART_TX PTE0 00057 #define EXT_UART_RX PTE1 00058 00059 00060 00061 /* Servo Block Lines */ 00062 00063 00064 #define SA1 PTC0 00065 #define SA2 PTC2 00066 #define SA3 PTC4 00067 00068 #define SB1 PTC5 00069 #define SB2 PTC6 00070 #define SB3 PTC7 00071 00072 #define SC1 PTC8 00073 #define SC2 PTC9 00074 #define SC3 PTC12 00075 00076 #define SD1 PTC13 00077 #define SD2 PTC16 00078 #define SD3 PTC17 00079 00080 /* Leg sensor lines, in case I ever get that working */ 00081 00082 #define SNA PTB0 00083 #define SNB PTB1 00084 #define SNC PTB2 00085 #define SCD PTB3 00086 00087 00088 00089 //#define PI 3.14159265359 00090 00091 00092 00093 00094 00095 00096 #endif
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