Diff: init.cpp

Revision:

0:7d18a91d0d19

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/init.cpp	Sat Sep 07 06:34:29 2013 +0000
@@ -0,0 +1,77 @@
+#include "init.h"
+#include "QEI.h"
+
+
+DigitalOut  MOTOR_POWER(PTC10);
+
+PwmOut  PWM0(PTC9);
+PwmOut  PWM1(PTC8);
+PwmOut  PWM2(PTA5);
+PwmOut  PWM3(PTA4);
+PwmOut  PWM4(PTA12);
+PwmOut  PWM5(PTD4);
+AnalogIn    AD0(PTB0);
+AnalogIn    AD1(PTB1);
+AnalogIn    AD2(PTB2);
+AnalogIn    AD3(PTB3);
+AnalogIn    AD4(PTC2);
+
+DigitalOut  OUT0(PTC6);
+//DigitalIn IN0(PTC6);
+DigitalOut  OUT1(PTC5);
+//DigitalIn IN1(PTC5);
+DigitalOut  OUT2(PTC4);
+//DigitalIn IN2(PTC4);
+DigitalOut  OUT3(PTC3);
+//DigitalIn IN3(PTC3);
+DigitalOut  OUT4(PTC0);
+//DigitalIn IN4(PTC0);
+DigitalOut  OUT5(PTC7);
+//DigitalIn IN5(PTC7);
+
+Serial pc(USBTX, USBRX);
+
+QEI         ENC0(PTD6, PTD7, NC, 624, QEI::X2_ENCODING);
+QEI         ENC1(PTD3, PTD1, NC, 624, QEI::X2_ENCODING);
+QEI         ENC2(PTA13, PTD5, NC, 624, QEI::X2_ENCODING);
+QEI         ENC3(PTD0, PTD2, NC, 624, QEI::X2_ENCODING);
+
+I2C         i2c0(PTE0,PTE1);
+
+DigitalIn   SW0(PTE29);
+DigitalIn   SW1(PTE30);
+
+DigitalOut  rled(LED_RED);
+DigitalOut  gled(LED_GREEN);
+DigitalOut  bled(LED_BLUE);
+
+void InitBoard(){
+    SW0.mode(PullUp);
+    SW1.mode(PullUp);
+    i2c0.frequency(1000000);
+    MOTOR_POWER = 1;
+}
+
+Timer AdCycle;
+
+void AdjustCycle(int t_us){
+    if(AdCycle.read_us() == 0) AdCycle.start();
+
+    if(AdCycle.read_us()>t_us)gled=0;
+    else                      gled=1;
+    while(AdCycle.read_us()<=t_us);
+    AdCycle.reset();
+}
+
+int Limit(int value,int max,int min) {
+    if (value>max)return max;
+    if (value<min)return min;
+    else          return value;
+}
+
+double Limit_d(double value,double max,double min) {
+    if (value>max)return max;
+    if (value<min)return min;
+    else          return value;
+}
+