hidaka sato / Mbed 2 deprecated WRS2019_master

WRS2019

Dependencies:   mbed BufferedSerial PID2 JY901 ros_lib_kinetic TextLCD i2cmaster Make_Sequencer_3

define.h@1:f102831401a8, 2019-12-17 (annotated)

Committer:
sgrsn
Date:
Tue Dec 17 04:41:19 2019 +0000
Revision:
1:f102831401a8
Parent:
0:f1459eec7228 
Fix for Self-localization Estimate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sgrsn 0:f1459eec7228 1 /*Common for Master and Slave***************/
sgrsn 0:f1459eec7228 2
sgrsn 0:f1459eec7228 3 typedef enum
sgrsn 0:f1459eec7228 4 {
sgrsn 0:f1459eec7228 5 RightForward = 1,
sgrsn 0:f1459eec7228 6 LeftForward = 2,
sgrsn 0:f1459eec7228 7 RightBack = 3,
sgrsn 0:f1459eec7228 8 LeftBack = 4
sgrsn 0:f1459eec7228 9 }MotorPosition;
sgrsn 0:f1459eec7228 10
sgrsn 0:f1459eec7228 11 typedef enum
sgrsn 0:f1459eec7228 12 {
sgrsn 0:f1459eec7228 13 COAST = 0,
sgrsn 0:f1459eec7228 14 BRAKE = 1,
sgrsn 0:f1459eec7228 15 CW = 2,
sgrsn 0:f1459eec7228 16 CCW = 3
sgrsn 0:f1459eec7228 17 }MotorState;
sgrsn 0:f1459eec7228 18
sgrsn 0:f1459eec7228 19 #define WHO_AM_I 0x00
sgrsn 0:f1459eec7228 20 #define MY_IIC_ADDR 0x01
sgrsn 0:f1459eec7228 21 #define MOTOR_DIR 0x04
sgrsn 0:f1459eec7228 22 #define PWM_FREQUENCY 0x05
sgrsn 0:f1459eec7228 23
sgrsn 0:f1459eec7228 24
sgrsn 0:f1459eec7228 25 /*Master only**************************************/
sgrsn 0:f1459eec7228 26
sgrsn 0:f1459eec7228 27 #define MOTOR_NUM 4
sgrsn 0:f1459eec7228 28 #define IIC_ADDR1 0xB0
sgrsn 0:f1459eec7228 29 #define IIC_ADDR2 0xC0
sgrsn 0:f1459eec7228 30 #define IIC_ADDR3 0xD0
sgrsn 0:f1459eec7228 31 #define IIC_ADDR4 0xE0
sgrsn 0:f1459eec7228 32
sgrsn 0:f1459eec7228 33 #define MaxFrequency 70000
sgrsn 1:f102831401a8 34 #define MinFrequency 0//50
sgrsn 0:f1459eec7228 35
sgrsn 0:f1459eec7228 36 // Register Map from PC
sgrsn 0:f1459eec7228 37 #define MARKER_X 0x05
sgrsn 0:f1459eec7228 38 #define MARKER_Y 0x06
sgrsn 0:f1459eec7228 39 #define MARKER_Z 0x07
sgrsn 0:f1459eec7228 40 #define MARKER_ROLL 0x08
sgrsn 0:f1459eec7228 41 #define MARKER_PITCH 0x09
sgrsn 0:f1459eec7228 42 #define MARKER_YAW 0x010
sgrsn 0:f1459eec7228 43
sgrsn 0:f1459eec7228 44 #define PI 3.141592654