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?
User | Revision | Line number | New 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 |