MD_rorikon_9/30
Dependencies: PID QEI i2cslave mbed
define.h@0:d527838453f6, 2016-09-30 (annotated)
- Committer:
- sgrsn
- Date:
- Fri Sep 30 12:31:49 2016 +0000
- Revision:
- 0:d527838453f6
MD_rorikon_9/30
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sgrsn | 0:d527838453f6 | 1 | /*Registar group*************************************/ |
sgrsn | 0:d527838453f6 | 2 | |
sgrsn | 0:d527838453f6 | 3 | #define motor1_state 0x01 |
sgrsn | 0:d527838453f6 | 4 | #define motor2_state 0x02 |
sgrsn | 0:d527838453f6 | 5 | #define motor1_pwm 0x03 |
sgrsn | 0:d527838453f6 | 6 | #define motor2_pwm 0x04 |
sgrsn | 0:d527838453f6 | 7 | #define check_reg 0x05 |
sgrsn | 0:d527838453f6 | 8 | #define PM_target_reg 0x10 |
sgrsn | 0:d527838453f6 | 9 | #define RE_target_reg 0x20 |
sgrsn | 0:d527838453f6 | 10 | #define Kp 0x30 |
sgrsn | 0:d527838453f6 | 11 | #define pid_start 0x40 |
sgrsn | 0:d527838453f6 | 12 | #define machine_state 0x45 |
sgrsn | 0:d527838453f6 | 13 | #define PM_ofset_reg 0x50 |
sgrsn | 0:d527838453f6 | 14 | #define wheel_start 0x60 |
sgrsn | 0:d527838453f6 | 15 | #define PM_start 0x70 |
sgrsn | 0:d527838453f6 | 16 | |
sgrsn | 0:d527838453f6 | 17 | /*Address group*************************************/ |
sgrsn | 0:d527838453f6 | 18 | //MD : MotorDriver |
sgrsn | 0:d527838453f6 | 19 | #define MD1_addr 0x12 |
sgrsn | 0:d527838453f6 | 20 | #define MD2_addr 0x14 |
sgrsn | 0:d527838453f6 | 21 | #define MD3_addr 0x16 |
sgrsn | 0:d527838453f6 | 22 | #define MD4_addr 0x18 |
sgrsn | 0:d527838453f6 | 23 | #define MD5_addr 0x20 |
sgrsn | 0:d527838453f6 | 24 | #define MD6_addr 0x22 |
sgrsn | 0:d527838453f6 | 25 | #define MD7_addr 0x24 |
sgrsn | 0:d527838453f6 | 26 | #define MD8_addr 0x26 |
sgrsn | 0:d527838453f6 | 27 | #define MD9_addr 0x28 |
sgrsn | 0:d527838453f6 | 28 | #define MD10_addr 0x30 |
sgrsn | 0:d527838453f6 | 29 | #define MD11_addr 0x32 |
sgrsn | 0:d527838453f6 | 30 | #define MD12_addr 0x34 |
sgrsn | 0:d527838453f6 | 31 | #define MD13_addr 0x36 |
sgrsn | 0:d527838453f6 | 32 | #define MD14_addr 0x38 |
sgrsn | 0:d527838453f6 | 33 | #define MD15_addr 0x40 |
sgrsn | 0:d527838453f6 | 34 | |
sgrsn | 0:d527838453f6 | 35 | //SE : Sensor |
sgrsn | 0:d527838453f6 | 36 | #define SE1_addr 0x90 |
sgrsn | 0:d527838453f6 | 37 | #define SE2_addr 0xA0 |
sgrsn | 0:d527838453f6 | 38 | |
sgrsn | 0:d527838453f6 | 39 | /*Motor movement***********************************/ |
sgrsn | 0:d527838453f6 | 40 | |
sgrsn | 0:d527838453f6 | 41 | #define Nomal 5 |
sgrsn | 0:d527838453f6 | 42 | #define Reverse 10 |
sgrsn | 0:d527838453f6 | 43 | #define Stop 3 |