Diff: System/Process/Process.h

Revision:

0:669ef71cba68

Child:

4:ba9df71868df

Child:

5:3ae504b88679

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/System/Process/Process.h	Sat Sep 08 06:05:22 2018 +0000
@@ -0,0 +1,69 @@
+#ifndef PROCESS_H_
+#define PROCESS_H_
+
+#include "mbed.h"
+
+void SystemProcess();
+
+#define ROLLER_LF motor[ROLLER_LF_NUM]
+#define ROLLER_LL motor[ROLLER_LL_NUM]
+#define ROLLER_LB motor[ROLLER_LB_NUM]
+#define ROLLER_LR motor[ROLLER_LR_NUM]
+#define ROLLER_CF motor[ROLLER_CF_NUM]
+#define ROLLER_CL motor[ROLLER_CL_NUM]
+#define ROLLER_CB motor[ROLLER_CB_NUM]
+#define ROLLER_CR motor[ROLLER_CR_NUM]
+#define ROLLER_RF motor[ROLLER_RF_NUM]
+#define ROLLER_RL motor[ROLLER_RL_NUM]
+#define ROLLER_RB motor[ROLLER_RB_NUM]
+#define ROLLER_RR motor[ROLLER_RR_NUM]
+
+#define ROLLER_LF_NUM 8
+#define ROLLER_LL_NUM 9
+#define ROLLER_LB_NUM 13
+#define ROLLER_LR_NUM 14
+#define ROLLER_CF_NUM 15
+#define ROLLER_CL_NUM 16
+#define ROLLER_CB_NUM 17
+#define ROLLER_CR_NUM 18
+#define ROLLER_RF_NUM 19
+#define ROLLER_RL_NUM 20
+#define ROLLER_RB_NUM 21
+#define ROLLER_RR_NUM 22
+
+#define FRONT_R tire[0]
+#define FRONT_L tire[1]
+#define REAR_L tire[2]
+#define REAR_R tire[3]
+
+#define TIRE_FR motor[0]
+#define TIRE_FL motor[1]
+#define TIRE_RL motor[2]
+#define TIRE_RR motor[3]
+#define STR_FR motor[4]
+#define STR_FL motor[5]
+#define STR_RL motor[6]
+#define STR_RR motor[7]
+
+#define SENSOR_FR POTENTIOMETER::adc[1].read_u16()
+#define SENSOR_FL (POTENTIOMETER::adc[2].read_u16() / 65535.0 * 1024.0)
+#define SENSOR_RL POTENTIOMETER::adc[3]
+#define SENSOR_RR POTENTIOMETER::adc[4]
+
+#define PLUS90_FR 605
+// #define PLUS90_FL 31100
+#define PLUS90_FL 480
+#define PLUS90_RL 505
+#define PLUS90_RR 550
+
+#define ZERO_FR 880
+// #define ZERO_FL 48800
+#define ZERO_FL 760
+#define ZERO_RL 775
+#define ZERO_RR 800
+
+extern Timer rollerTimer[4];
+extern float rollerSpeed[4];
+
+
+#endif