GlobalsNDefines.h

00001 /*
00002 #ifndef GlobalsNDefines_H_
00003 #define GlobalsNDefines_H_
00004 */
00005 
00006 #include "mbed.h"
00007 #include "RF12B.h"
00008 
00009 Serial pc(USBTX, USBRX); // tx, rx
00010 I2C i2c(p28, p27);
00011 //Rfm12b rfm12b(p5, p6, p7, p8, p11);
00012 RF12B radiolink(p5, p6, p7, p8, p9);
00013 DigitalOut myled(LED1);
00014 DigitalOut motormaxled(LED2);
00015 DigitalIn Nkill(p10);
00016 Ticker watchdog;
00017 
00018 PwmOut PWMfront(p23);
00019 PwmOut PWMrear(p22);
00020 PwmOut PWMleft(p24);
00021 PwmOut PWMright(p21);
00022 
00023 AnalogIn altsensor(p15);
00024 
00025 #define RPSPUNIT -0.00126766
00026 #define NOPOWER 0.048
00027 #define ACCADDRESS 0x4C
00028 #define LOOPTIME 0.01
00029 #define ACCDECAY 50
00030 #define YAWCAP 1.5f
00031 #define COMMANDPERIOD 0.1;
00032 #define ALTGAIN 
00033 //#define ALTSENSOR
00034 
00035 float gyrcalib[] = {0.0, 0.0, 0.0};
00036 bool loopalive = 1;
00037 bool commandsalive = 1;
00038 bool integratestop = 0;
00039 
00040 
00041 //#endif