Diff: main.cpp

Revision:

6:995b3679155f

Parent:

5:56a5fdd373c9

Child:

7:4340355261f9

--- a/main.cpp	Thu Apr 04 14:44:14 2013 +0000
+++ b/main.cpp	Fri Apr 05 15:45:00 2013 +0000
@@ -2,6 +2,64 @@
 
 // Eurobot13 main.cpp
 
+
+
+/*
+PINOUT Sensors
+5:  RF:SDI
+6 SDO
+7 SCK
+8 NCS
+9 NIRQ
+10-15 6 echo pins
+16 trig
+17 IRin
+18-20 unused
+21 stepper step
+22-27 unused
+28 Serial TX
+29-30 unused
+
+
+PINOUT Main
+5: Lower arm servo
+6: Upper arm servo
+
+14: Serial RX
+15: Distance sensor
+
+20: color sensor in
+21-24: Motors PWM IN 1-4
+25-26: Encoders 
+27-28: Encoders 
+29: Color sensor RED LED
+30: Color sensor BLUE LED
+
+*/
+
+#define P_SERVO_LOWER_ARM p5
+#define P_SERVO_UPPER_ARM p6
+
+#define P_SERIAL_RX p14
+#define P_DISTANCE_SENSOR p15
+
+#define P_COLOR_SENSOR_IN p20
+
+#define P_MOT_RIGHT_A p21
+#define P_MOT_RIGHT_B p22
+#define P_MOT_LEFT_A p23
+#define P_MOT_LEFT_B p24
+
+#define P_ENC_RIGHT_A p28
+#define P_ENC_RIGHT_B p27
+#define P_ENC_LEFT_A p25
+#define P_ENC_LEFT_B p26
+
+#define P_COLOR_SENSOR_RED p29
+#define P_COLOR_SENSOR_BLUE p30
+
+
+
 #include "mbed.h"
 Serial pc(USBTX, USBRX);
 
@@ -191,8 +249,8 @@
 }
 
 void motorencodetest(){
-    Encoder Eleft(p28, p27), Eright(p29, p30);
-    MainMotor mleft(p23,p24), mright(p22,p21);
+    Encoder Eright(ENC_RIGHT_A, ENC_RIGHT_B), Eleft(ENC_LEFT_A, ENC_LEFT_B);
+    MainMotor mright(MOT_RIGHT_A, MOT_RIGHT_B), mleft(MOT_LEFT_A, MOT_LEFT_B);
     Serial pc(USBTX, USBRX);
     
     const float speed = -0.3;