globals.h

00001 #ifndef GLOBALS_H
00002 #define GLOBALS_H
00003 
00004 #include "mbed.h"
00005 #define PI 3.14159265
00006 
00007 #define ROBOT_PRIMARY
00008 
00009 // IR turret defines go here, p30 is reserved for the hardware counter
00010 #define STEPPER_PIN p21 //p21 pwmout
00011 #define IR_SENSOR_PIN p17
00012 
00013 // serial interface to the mainboard
00014 #define MBED_MAIN_SERIAL_TX p28
00015 #define MBED_MAIN_SERIAL_RX p27
00016 
00017 
00018 
00019 //enables ui
00020 //#define UION
00021 
00022 
00023 
00024 #ifdef ROBOT_PRIMARY
00025 // Primary defs go here
00026 
00027 #else
00028 // Secondary defs go here
00029 
00030 #endif
00031 
00032 
00033 
00034 //sonar constants
00035 static const float sonarvariance = 0.01*0.01; //0.01m std
00036 
00037 //IR constants
00038 static const float IRvariance = 0.0073*0.0073; //std = 0.0073
00039 
00040 //High speed serial port
00041 extern Serial pc;
00042 
00043 
00044 #endif