WRS2019
Dependencies: mbed BufferedSerial PID2 JY901 ros_lib_kinetic TextLCD i2cmaster Make_Sequencer_3
Diff: define.h
- Revision:
- 0:f1459eec7228
- Child:
- 1:f102831401a8
diff -r 000000000000 -r f1459eec7228 define.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/define.h Mon Dec 16 10:38:07 2019 +0000 @@ -0,0 +1,43 @@ +/*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 \ No newline at end of file