This is for our FYDP project. 2 MPU6050s are used
Diff: robot/robot.h
- Revision:
- 3:47461d37adfb
- Parent:
- 0:21019d94ad33
diff -r 7b3822eacad8 -r 47461d37adfb robot/robot.h --- a/robot/robot.h Sat Mar 21 22:44:36 2015 +0000 +++ b/robot/robot.h Sun Mar 22 00:43:42 2015 +0000 @@ -14,10 +14,13 @@ #include "IMUDATA.h" #include "ADNS5090.h" #include "ACS712.h" +#include "Servo.h" #include "reckon.h" #include "motors.h" +#define write_rate 100 //Maximum write rate (ms) of the motor + #define BT_BAUD_RATE 115200 //Baud rate of 9600 #define TX_BT PTA2 //Bluetooth connection pins #define RX_BT PTA1 //Bluetooth connection pins @@ -77,6 +80,7 @@ const float M_PI = 3.14159265; extern DigitalOut led; +extern Servo myservo; extern HC05 bt; @@ -113,6 +117,8 @@ extern unsigned long long long_time; extern Timer t; +//extern Timer t_m; //Timer used for the motor thread +extern time_t prev; //previous time for motor float getTime(); void initRobot();