WRS2019
Dependencies: mbed BufferedSerial PID2 JY901 ros_lib_kinetic TextLCD i2cmaster Make_Sequencer_3
define.h
- Committer:
- sgrsn
- Date:
- 2019-12-16
- Revision:
- 0:f1459eec7228
- Child:
- 1:f102831401a8
File content as of revision 0:f1459eec7228:
/*Common for Master and Slave***************/ typedef enum { RightForward = 1, LeftForward = 2, RightBack = 3, LeftBack = 4 }MotorPosition; typedef enum { COAST = 0, BRAKE = 1, CW = 2, CCW = 3 }MotorState; #define WHO_AM_I 0x00 #define MY_IIC_ADDR 0x01 #define MOTOR_DIR 0x04 #define PWM_FREQUENCY 0x05 /*Master only**************************************/ #define MOTOR_NUM 4 #define IIC_ADDR1 0xB0 #define IIC_ADDR2 0xC0 #define IIC_ADDR3 0xD0 #define IIC_ADDR4 0xE0 #define MaxFrequency 70000 // Register Map from PC #define MARKER_X 0x05 #define MARKER_Y 0x06 #define MARKER_Z 0x07 #define MARKER_ROLL 0x08 #define MARKER_PITCH 0x09 #define MARKER_YAW 0x010 #define PI 3.141592654