eDES2WD.h

00001 #define SUB_ADRS    0x30
00002 
00003 #define I2C_WCMD_RESET  0x00
00004 #define I2C_WCMD_START  0x01
00005 #define I2C_WCMD_ENQ    0x09
00006 
00007 #define I2C_WCMD_IO     0x10
00008 #define I2C_WCMD_SENSOR 0x11
00009 #define I2C_WCMD_MOTOR  0x12
00010 #define I2C_WCMD_LED    0x13
00011 #define I2C_WCMD_LAT    0x14
00012 #define I2C_WCMD_T      0x15
00013 #define I2C_WCMD_V      0x16
00014 #define I2C_WCMD_DIR    0x17
00015 #define I2C_WCMD_EG002  0x18
00016 #define I2C_WCMD_EG003  0x19
00017 #define I2C_WCMD_EG009  0x1A
00018 #define I2C_WCMD_LDM    0x1B
00019 
00020 #define I2C_RCMD_IO     0x80
00021 #define I2C_RCMD_SENSOR 0x81
00022 #define I2C_RCMD_MOTOR  0x82
00023 #define I2C_RCMD_LED    0x83
00024 #define I2C_RCMD_LAT    0x84
00025 #define I2C_RCMD_T      0x85
00026 #define I2C_RCMD_V      0x86
00027 #define I2C_RCMD_DIR    0x87
00028 
00029 #define MAX_PWM         6
00030 #define MAX_COL         16
00031 
00032 #define MAX_CN      10
00033 
00034 #define LED_GREEN    0
00035 #define LED_RED1    1
00036 #define LED_RED2    2
00037 #define LED_RED3    3
00038 
00039 void eDES2WD_reset (int id);
00040 void eDES2WD_motor (int id, int l_speed, int r_speed);
00041 void eDES2WD_set_led (int id, int led, int sw);
00042 
00043 unsigned int eDES2WD_get_sensor(int id, int cn, unsigned int *dat);
00044 int eDES2WD_get_lat(int id, int cno);