Diff: define.h

Revision:

0:c177452db984

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/define.h	Mon Nov 02 09:00:16 2020 +0000
@@ -0,0 +1,61 @@
+#ifndef MY_DEFINE_H
+#define MY_DEFINE_H
+
+#define PI 3.141592654
+
+float DEG_TO_RAD = PI/180.0;
+float RAD_TO_DEG = 180.0/PI;
+
+float wheel_d = 0.127;           // メカナム直径[mm]
+float wheel_r = 0.0635;
+float deg_per_pulse = 0.0072;   // ステッピングモータ(AR46SAK-PS50-1)
+
+// 目標位置到達判定
+float threshold_x     = 5; //[mm]
+float threshold_y     = 5; //[mm]
+float threshold_theta = 1 * DEG_TO_RAD;
+
+/*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
+#define MinFrequency   0//50
+
+// 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
+
+#endif