Diff: globals.h

Revision:

20:70d651156779

Parent:

19:4b993a9a156e

Child:

22:6e3218cf75f8

Child:

24:50805ef8c499

Child:

43:c592bf6a6a2d

--- a/globals.h	Sun Apr 07 19:26:07 2013 +0000
+++ b/globals.h	Tue Apr 09 15:33:36 2013 +0000
@@ -1,4 +1,82 @@
 
+#ifndef GLOBALS_H
+#define GLOBALS_H
+
+#include "mbed.h"
+
+const float KALMAN_PREDICT_PERIOD = 0.05; //seconds
+
+#define ENABLE_GLOBAL_ENCODERS
+
+const float ENCODER_M_PER_TICK = 0.00084; //TODO: measure this!!
+const float ENCODER_WHEELBASE = 0.068; //TODO: measrue this!!
+const float TURRET_FWD_PLACEMENT = 0.042;
+
+//Robot movement constants
+const float fwdvarperunit = 0.01; //1 std dev = 7% //TODO: measrue this!!
+const float varperang = 0.01; //around 1 degree stddev per 180 turn //TODO: measrue this!!
+const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
+const float angvarpertime = 0.001;
+
+/*
+PINOUT Sensors
+5:  RF:SDI
+6 SDO
+7 SCK
+8 NCS
+9 NIRQ
+10-15 6 echo pins
+16 trig
+17 IRin
+18-20 unused
+21 stepper step
+22-27 unused
+28 Serial TX
+29-30 unused
+
+
+PINOUT Main
+5: Lower arm servo
+6: Upper arm servo
+
+14: Serial RX
+15: Cake distance sensor
+16: Fwd distance sensor
+
+20: color sensor in
+21-24: Motors PWM IN 1-4
+25-26: Encoders 
+27-28: Encoders 
+29: Color sensor RED LED
+30: Color sensor BLUE LED
+
+*/
+
+const PinName P_SERVO_LOWER_ARM = p5;
+const PinName P_SERVO_UPPER_ARM = p6;
+
+const PinName P_SERIAL_RX       = p14;
+const PinName P_DISTANCE_SENSOR = p15;
+
+const PinName P_COLOR_SENSOR_IN = p20;
+
+const PinName P_MOT_RIGHT_A     = p21;
+const PinName P_MOT_RIGHT_B     = p22;
+const PinName P_MOT_LEFT_A      = p23;
+const PinName P_MOT_LEFT_B      = p24;
+
+const PinName P_ENC_RIGHT_A     = p28;
+const PinName P_ENC_RIGHT_B     = p27;
+const PinName P_ENC_LEFT_A      = p25;
+const PinName P_ENC_LEFT_B      = p26;
+
+const PinName P_COLOR_SENSOR_RED = p29;
+const PinName P_COLOR_SENSOR_BLUE = p30;
+
+
+
+//a type which is a pointer to a rtos thread function
+typedef void (*tfuncptr_t)(void const *argument);
 
 //Solving for sonar bias is done by entering the following into wolfram alpha
 //(a-f)^2 = x^2 + y^2; (b-f)^2 = (x-3)^2 + y^2; (c-f)^2 = (x-1.5)^2+(y-2)^2: solve for x,y,f
@@ -13,4 +91,6 @@
 
 extern pos beaconpos[3];
 
-const float PI = 3.14159265359;
\ No newline at end of file
+const float PI = 3.14159265359;
+
+#endif //GLOBALS_H
\ No newline at end of file