Diff: globals.h

Revision:

25:b16f1045108f

Parent:

24:50805ef8c499

Parent:

22:6e3218cf75f8

Child:

26:7cb3a21d9a2e

Child:

30:791739422122

--- a/globals.h	Tue Apr 09 20:37:59 2013 +0000
+++ b/globals.h	Wed Apr 10 02:01:51 2013 +0000
@@ -18,6 +18,11 @@
 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
 const float angvarpertime = 0.001;
 
+extern Timer SystemTime;
+
+const float MOTORCONTROLLER_FILTER_K = 0.5;// TODO: tune this
+const float MOTOR_MAX_POWER = 0.4f;
+
 /*
 PINOUT Sensors
 5:  RF:SDI
@@ -60,15 +65,15 @@
 
 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_MOT_LEFT_A     = p21;
+const PinName P_MOT_LEFT_B     = p22;
+const PinName P_MOT_RIGHT_A      = p23;
+const PinName P_MOT_RIGHT_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_ENC_RIGHT_A     = p26;
+const PinName P_ENC_RIGHT_B     = p25;
+const PinName P_ENC_LEFT_A      = p27;
+const PinName P_ENC_LEFT_B      = p28;
 
 const PinName P_COLOR_SENSOR_RED = p29;
 const PinName P_COLOR_SENSOR_BLUE = p30;
@@ -112,7 +117,7 @@
 //TODO: hack, move to AI layer
 namespace AI
 {
-    Waypoint *current_waypoint; 
+    extern Waypoint* current_waypoint; 
 }