Cooper Liu
/
Eurobot2013_Co-Processor
working version with calibration done
Fork of Eurobot2013 by
globals.h
- Committer:
- xiaxia686
- Date:
- 2013-04-07
- Revision:
- 10:2bd9f4e02b74
- Parent:
- 7:88753d0ad4ca
- Child:
- 11:5ba926692210
File content as of revision 10:2bd9f4e02b74:
#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) // 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 #ifdef ROBOT_PRIMARY // Primary 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; #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; //IR constants static const float IRvariance = 0.001; //Arena constants struct pos { int x; int y; }; //beacon positions extern pos beaconpos[]; //Colour extern bool Colour; // 1 for red, 0 for blue //System constants const int PREDICTPERIOD = 20; //ms //High speed serial port extern Serial pc; #endif