Diff: psiswarm.h

Revision:

17:bf614e28668f

Parent:

16:50686c07ad07

Child:

18:9204f74069b4

--- a/psiswarm.h	Thu Jun 01 23:02:32 2017 +0000
+++ b/psiswarm.h	Sun Jun 04 13:11:09 2017 +0000
@@ -24,6 +24,7 @@
 #define PSISWARM_H
 
 #define SOFTWARE_VERSION_CODE 0.90
+#define TARGET_FIRMWARE_VERSION 1.2
 
 #define PIC_ADDRESS 0x30
 #define LCD_ADDRESS 0x7C
@@ -50,6 +51,33 @@
 #define TEMPERATURE_LOW_HI 0X00
 #define TEMPEARTURE_LOW_LO 0X00
 
+/* CALIBRATION DEFAULTS 
+ * __________________________
+ *
+ * These values are used as defaults if robot specific calibration values have not been stored in EEPROM
+ *
+ */
+ 
+#define BIR1W 1750
+#define BIR2W 3780
+#define BIR3W 3820
+#define BIR4W 3810
+#define BIR5W 2880
+#define BIR1B 30
+#define BIR2B 350
+#define BIR3B 670
+#define BIR4B 550
+#define BIR5B 250
+#define CS_C_BLACK   63
+#define CS_C_WHITE   802
+#define CS_R_BLACK   22
+#define CS_R_WHITE   244
+#define CS_G_BLACK   24
+#define CS_G_WHITE   297
+#define CS_B_BLACK   16
+#define CS_B_WHITE   232
+
+
 #define DEFAULT_IR_PULSE_DELAY 400
 #define DEFAULT_BASE_IR_PULSE_DELAY 50
 
@@ -140,6 +168,8 @@
     void IF_get_hardware_description(void);
 };
 
+extern "C" void mbed_reset();  // Allows use of (undocumented) mbed_reset() function   
+
 extern Psiswarm psi;
 extern Serial pc;
 extern Serial bt;
@@ -221,6 +251,9 @@
 extern float left_motor_calibration_value;
 extern float right_motor_calibration_value;
 
+extern char base_ir_calibration_set;
+extern char base_colour_calibration_set;
+
 extern float firmware_version;
 extern float pcb_version;
 extern float serial_number;