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working version with calibration done
Fork of Eurobot2013 by
globals.h@11:5ba926692210, 2013-04-09 (annotated)
- Committer:
- xiaxia686
- Date:
- Tue Apr 09 15:32:47 2013 +0000
- Revision:
- 11:5ba926692210
- Parent:
- 10:2bd9f4e02b74
woking version (calibrated)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
sv | 1:6799c07fe510 | 1 | #ifndef GLOBALS_H |
sv | 1:6799c07fe510 | 2 | #define GLOBALS_H |
sv | 1:6799c07fe510 | 3 | |
xiaxia686 | 10:2bd9f4e02b74 | 4 | #include "mbed.h" |
xiaxia686 | 10:2bd9f4e02b74 | 5 | #define PI 3.14159265 |
madcowswe | 7:88753d0ad4ca | 6 | |
madcowswe | 7:88753d0ad4ca | 7 | #define ROBOT_PRIMARY |
madcowswe | 7:88753d0ad4ca | 8 | |
xiaxia686 | 11:5ba926692210 | 9 | // IR turret defines go here, p30 is reserved for the hardware counter |
xiaxia686 | 10:2bd9f4e02b74 | 10 | #define STEPPER_PIN p21 //p21 pwmout |
xiaxia686 | 11:5ba926692210 | 11 | #define IR_SENSOR_PIN p17 |
madcowswe | 7:88753d0ad4ca | 12 | |
xiaxia686 | 11:5ba926692210 | 13 | // serial interface to the mainboard |
xiaxia686 | 11:5ba926692210 | 14 | #define MBED_MAIN_SERIAL_TX p28 |
xiaxia686 | 11:5ba926692210 | 15 | #define MBED_MAIN_SERIAL_RX p27 |
xiaxia686 | 10:2bd9f4e02b74 | 16 | |
xiaxia686 | 10:2bd9f4e02b74 | 17 | |
sv | 1:6799c07fe510 | 18 | |
sv | 1:6799c07fe510 | 19 | //enables ui |
sv | 1:6799c07fe510 | 20 | //#define UION |
sv | 1:6799c07fe510 | 21 | |
sv | 1:6799c07fe510 | 22 | |
sv | 1:6799c07fe510 | 23 | |
madcowswe | 7:88753d0ad4ca | 24 | #ifdef ROBOT_PRIMARY |
madcowswe | 7:88753d0ad4ca | 25 | // Primary defs go here |
sv | 1:6799c07fe510 | 26 | |
xiaxia686 | 10:2bd9f4e02b74 | 27 | #else |
xiaxia686 | 10:2bd9f4e02b74 | 28 | // Secondary defs go here |
xiaxia686 | 10:2bd9f4e02b74 | 29 | |
xiaxia686 | 10:2bd9f4e02b74 | 30 | #endif |
xiaxia686 | 10:2bd9f4e02b74 | 31 | |
xiaxia686 | 10:2bd9f4e02b74 | 32 | |
sv | 1:6799c07fe510 | 33 | |
sv | 1:6799c07fe510 | 34 | //sonar constants |
xiaxia686 | 11:5ba926692210 | 35 | static const float sonarvariance = 0.01*0.01; //0.01m std |
sv | 1:6799c07fe510 | 36 | |
sv | 1:6799c07fe510 | 37 | //IR constants |
xiaxia686 | 11:5ba926692210 | 38 | static const float IRvariance = 0.0073*0.0073; //std = 0.0073 |
sv | 1:6799c07fe510 | 39 | |
sv | 1:6799c07fe510 | 40 | //High speed serial port |
sv | 1:6799c07fe510 | 41 | extern Serial pc; |
sv | 1:6799c07fe510 | 42 | |
sv | 1:6799c07fe510 | 43 | |
sv | 1:6799c07fe510 | 44 | #endif |