Dave Lu
IMU and knee angle. No servo yet
Fork of
FYDP_Final2
by 
Dave Lu
robot.h@11:425dff6a4af9, 2015-03-25 (annotated)
- Committer:
- tntmarket
- Date:
- Wed Mar 25 18:11:09 2015 +0000
- Revision:
- 11:425dff6a4af9
- Parent:
- 6:b3baf0fe5b73
Working
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| tntmarket | 6:b3baf0fe5b73 | 1 | #ifndef ROBOT_H |
| tntmarket | 6:b3baf0fe5b73 | 2 | #define ROBOT_H |
| tntmarket | 6:b3baf0fe5b73 | 3 | |
| tntmarket | 6:b3baf0fe5b73 | 4 | #include "mbed.h" |
| tntmarket | 6:b3baf0fe5b73 | 5 | |
| tntmarket | 6:b3baf0fe5b73 | 6 | #include "MPU6050_6Axis_MotionApps20.h" |
| tntmarket | 6:b3baf0fe5b73 | 7 | #include "MPU6051_6Axis_MotionApps20.h" |
| tntmarket | 6:b3baf0fe5b73 | 8 | #include "IMUDATA.h" |
| tntmarket | 6:b3baf0fe5b73 | 9 | |
| tntmarket | 6:b3baf0fe5b73 | 10 | #define IMU_POWER_PIN PTD6 |
| tntmarket | 6:b3baf0fe5b73 | 11 | #define IMU2_POWER_PIN PTD4 |
| tntmarket | 6:b3baf0fe5b73 | 12 | |
| tntmarket | 6:b3baf0fe5b73 | 13 | #define LED_PIN PTE3 |
| tntmarket | 6:b3baf0fe5b73 | 14 | #define LED_OFF led = 1; |
| tntmarket | 6:b3baf0fe5b73 | 15 | #define LED_ON led = 0; |
| tntmarket | 6:b3baf0fe5b73 | 16 | |
| tntmarket | 6:b3baf0fe5b73 | 17 | extern DigitalOut led; |
| tntmarket | 6:b3baf0fe5b73 | 18 | |
| tntmarket | 6:b3baf0fe5b73 | 19 | extern MPU6050 mpu; |
| tntmarket | 6:b3baf0fe5b73 | 20 | extern MPU6051 mpu2; |
| tntmarket | 6:b3baf0fe5b73 | 21 | extern DigitalOut imuSwitch; |
| tntmarket | 6:b3baf0fe5b73 | 22 | extern DigitalOut imu2Switch; |
| tntmarket | 6:b3baf0fe5b73 | 23 | extern IMU_DATA imu_data; |
| tntmarket | 6:b3baf0fe5b73 | 24 | extern IMU_DATA imu2_data; |
| tntmarket | 6:b3baf0fe5b73 | 25 | |
| tntmarket | 6:b3baf0fe5b73 | 26 | extern Timer t; |
| tntmarket | 6:b3baf0fe5b73 | 27 | |
| tntmarket | 6:b3baf0fe5b73 | 28 | float getTime(); |
| tntmarket | 6:b3baf0fe5b73 | 29 | |
| tntmarket | 6:b3baf0fe5b73 | 30 | #endif // ROBOT_H |