This is some awesome robot code
Dependencies: mbed-rtos mbed QEI
Fork of ICRSEurobot13 by
Diff: main.cpp
- Revision:
- 6:995b3679155f
- Parent:
- 5:56a5fdd373c9
- Child:
- 7:4340355261f9
diff -r 56a5fdd373c9 -r 995b3679155f main.cpp --- a/main.cpp Thu Apr 04 14:44:14 2013 +0000 +++ b/main.cpp Fri Apr 05 15:45:00 2013 +0000 @@ -2,6 +2,64 @@ // Eurobot13 main.cpp + + +/* +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: 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 + +*/ + +#define P_SERVO_LOWER_ARM p5 +#define P_SERVO_UPPER_ARM p6 + +#define P_SERIAL_RX p14 +#define P_DISTANCE_SENSOR p15 + +#define P_COLOR_SENSOR_IN p20 + +#define P_MOT_RIGHT_A p21 +#define P_MOT_RIGHT_B p22 +#define P_MOT_LEFT_A p23 +#define P_MOT_LEFT_B p24 + +#define P_ENC_RIGHT_A p28 +#define P_ENC_RIGHT_B p27 +#define P_ENC_LEFT_A p25 +#define P_ENC_LEFT_B p26 + +#define P_COLOR_SENSOR_RED p29 +#define P_COLOR_SENSOR_BLUE p30 + + + #include "mbed.h" Serial pc(USBTX, USBRX); @@ -191,8 +249,8 @@ } void motorencodetest(){ - Encoder Eleft(p28, p27), Eright(p29, p30); - MainMotor mleft(p23,p24), mright(p22,p21); + Encoder Eright(ENC_RIGHT_A, ENC_RIGHT_B), Eleft(ENC_LEFT_A, ENC_LEFT_B); + MainMotor mright(MOT_RIGHT_A, MOT_RIGHT_B), mleft(MOT_LEFT_A, MOT_LEFT_B); Serial pc(USBTX, USBRX); const float speed = -0.3;