Process.h

00001 #ifndef PROCESS_H_
00002 #define PROCESS_H_
00003 
00004 #include "mbed.h"
00005 
00006 void SystemProcess();
00007 
00008 #define ROLLER_LF motor[ROLLER_LF_NUM]
00009 #define ROLLER_LL motor[ROLLER_LL_NUM]
00010 #define ROLLER_LB motor[ROLLER_LB_NUM]
00011 #define ROLLER_LR motor[ROLLER_LR_NUM]
00012 #define ROLLER_CF motor[ROLLER_CF_NUM]
00013 #define ROLLER_CL motor[ROLLER_CL_NUM]
00014 #define ROLLER_CB motor[ROLLER_CB_NUM]
00015 #define ROLLER_CR motor[ROLLER_CR_NUM]
00016 #define ROLLER_RF motor[ROLLER_RF_NUM]
00017 #define ROLLER_RL motor[ROLLER_RL_NUM]
00018 #define ROLLER_RB motor[ROLLER_RB_NUM]
00019 #define ROLLER_RR motor[ROLLER_RR_NUM]
00020 
00021 #define ROLLER_LF_NUM 8
00022 #define ROLLER_LL_NUM 9
00023 #define ROLLER_LB_NUM 13
00024 #define ROLLER_LR_NUM 14
00025 #define ROLLER_CF_NUM 15
00026 #define ROLLER_CL_NUM 16
00027 #define ROLLER_CB_NUM 17
00028 #define ROLLER_CR_NUM 18
00029 #define ROLLER_RF_NUM 19
00030 #define ROLLER_RL_NUM 20
00031 #define ROLLER_RB_NUM 21
00032 #define ROLLER_RR_NUM 22
00033 
00034 #define FRONT_R tire[0]
00035 #define FRONT_L tire[1]
00036 #define REAR_L tire[2]
00037 #define REAR_R tire[3]
00038 
00039 #define TIRE_FR motor[0]
00040 #define TIRE_FL motor[1]
00041 #define TIRE_RL motor[2]
00042 #define TIRE_RR motor[3]
00043 #define STR_FR motor[4]
00044 #define STR_FL motor[5]
00045 #define STR_RL motor[6]
00046 #define STR_RR motor[7]
00047 
00048 #define SENSOR_FR POTENTIOMETER::adc[1].read_u16()
00049 #define SENSOR_FL (POTENTIOMETER::adc[2].read_u16() / 65535.0 * 1024.0)
00050 #define SENSOR_RL POTENTIOMETER::adc[3]
00051 #define SENSOR_RR POTENTIOMETER::adc[4]
00052 
00053 #define PLUS90_FR 605
00054 // #define PLUS90_FL 31100
00055 #define PLUS90_FL 480
00056 #define PLUS90_RL 505
00057 #define PLUS90_RR 550
00058 
00059 #define ZERO_FR 880
00060 // #define ZERO_FL 48800
00061 #define ZERO_FL 760
00062 #define ZERO_RL 775
00063 #define ZERO_RR 800
00064 
00065 
00066 
00067 
00068 #endif