Diff: globals.h

Revision:

10:2bd9f4e02b74

Parent:

7:88753d0ad4ca

Child:

11:5ba926692210

--- a/globals.h	Wed Nov 14 17:15:53 2012 +0000
+++ b/globals.h	Sun Apr 07 16:30:49 2013 +0000
@@ -1,12 +1,30 @@
 #ifndef GLOBALS_H
 #define GLOBALS_H
 
+#include "mbed.h"
+#define PI 3.14159265
 
 #define ROBOT_PRIMARY
 
+// Stepper motor defines go here, p30 is reserved for the hardware counter
+#define STEPPER_PIN p21 //p21 pwmout
+#define STEPPER_PERIOD 0.0001   //Stepper motor period in seconds, 50% duty cycle
+#define STEPPER_DIV   3200    // number of steps per cycle = default * microstep
+#define STEP_ANGLE   ((float)(2*PI) / STEPPER_DIV)    // step angle of stepper
+#define IR_TIMEOUT_STEP 90 //about 10 degrees
+#define IR_TIMEOUT (STEPPER_PERIOD*IR_TIMEOUT_STEP)
 
-#include "mbed.h"
-#define PI 3.14159265
+// IR Sensor defines go here
+#define PWM_INVERT // inverts the PWM for the IR sensor pwm input
+#define IR_SENSOR_PIN p17
+#define IR0_PULSEWIDTH 1000
+#define IR1_PULSEWIDTH 750
+#define IR2_PULSEWIDTH 500
+#define PULSEWIDTH_TOLERANCE 125
+
+
+
+
 
 //enables ui
 //#define UION
@@ -15,10 +33,6 @@
 
 #ifdef ROBOT_PRIMARY
 // Primary defs go here
-#else
-// Secondary defs go here
-#endif
-
 //Robot hardware parameters
 const int robotCircumference = 816; //mm (DUMMY!)
 
@@ -27,6 +41,19 @@
 const float varperang = 0.01; //around 1 degree stddev per 180 turn
 const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
 const float angvarpertime = 0.001;
+#else
+// Secondary defs go here
+//Robot hardware parameters
+const int robotCircumference = 816; //mm (DUMMY!)
+
+//Robot movement constants
+const float fwdvarperunit = 0.01; //1 std dev = 7% //NEEDS TO BE MEASURED AGAIN!
+const float varperang = 0.01; //around 1 degree stddev per 180 turn
+const float xyvarpertime = 0.0005; //(very poorly) accounts for hitting things
+const float angvarpertime = 0.001;
+#endif
+
+
 
 //sonar constants
 static const float sonarvariance = 0.005;